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4fe22879a57c4e83332ceebb5adee0983f6c1c82..53de3a084e730f3a90bf6dfcbd909b40f9240425 100644 --- a/fridge_7/chunk_012/running_log.log +++ b/fridge_7/chunk_012/running_log.log @@ -4005,3 +4005,2178 @@ 05/11 01:05:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] 05/11 01:06:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] 05/11 01:06:11 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:06:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:06:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 01:06:37 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/11 01:06:49 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:06:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:06:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:06:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.78s (batch: 4.87s, save: 7.91s) [pipeline.py: 300] +05/11 01:06:50 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.43s: + episode_total: mean=205.37s, total=205.37s, count=1, min=205365.9ms, max=205365.9ms + sensor_polling: mean=546.4ms, total=153.54s, count=281, min=460.6ms, max=955.3ms + physics_step: mean=28.6ms, total=8.03s, count=281, min=17.1ms, max=95.6ms + save_trajectories: mean=7.91s, total=7.91s, count=1, min=7911.5ms, max=7911.5ms + save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4867.0ms, max=4867.0ms + task_sampling: mean=427.1ms, total=427.1ms, count=1, min=427.1ms, max=427.1ms + task_specific_sample: mean=423.3ms, total=423.3ms, count=1, min=423.3ms, max=423.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=399.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:06:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:06:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:06:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:06:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:06:52 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 01:06:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:06:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085186m [env.py: 870] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:06:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14437849 1.06312684 0.08518589] yaw=-140.0deg [env.py: 1019] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86505017 0.69693549 0.08518589] yaw=-164.7deg [env.py: 1019] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.09350318 1.07438658 0.08518589] yaw=-147.0deg [env.py: 1019] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:06:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.9ms, total=180.9ms [env.py: 1075] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.063, 0.085) [env.py: 1079] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg [env.py: 1082] +05/11 01:06:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:06:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:06:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:06:52 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 01:06:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 01:06:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:06:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:06:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:06:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.593s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:06:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.377[m] 86.064[deg] [grasp_sample.py: 539] +05/11 01:06:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:06:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:06:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:07:11 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:07:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:07:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:07:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:07:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:07:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.54s (batch: 4.16s, save: 8.38s) [pipeline.py: 300] +05/11 01:07:24 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s: + episode_total: mean=213.42s, total=213.42s, count=1, min=213417.0ms, max=213417.0ms + sensor_polling: mean=549.4ms, total=164.83s, count=300, min=438.9ms, max=920.5ms + physics_step: mean=28.0ms, total=8.40s, count=300, min=17.4ms, max=135.1ms + save_trajectories: mean=8.38s, total=8.38s, count=1, min=8380.2ms, max=8380.2ms + save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4164.4ms, max=4164.4ms + task_sampling: mean=516.5ms, total=516.5ms, count=1, min=516.5ms, max=516.5ms + task_specific_sample: mean=512.8ms, total=512.8ms, count=1, min=512.8ms, max=512.8ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=425.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:07:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:07:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:07:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:07:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:07:26 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 01:07:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:07:26 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 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051633m [env.py: 870] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:07:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92462928 0.70687248 0.05163345] yaw=-170.7deg [env.py: 1019] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90409973 0.89511045 0.05163345] yaw=-145.4deg [env.py: 1019] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7336586 0.59018937 0.05163345] yaw=-176.0deg [env.py: 1019] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:07:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.3ms, total=137.3ms [env.py: 1075] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.707, 0.052) [env.py: 1079] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.7 deg [env.py: 1082] +05/11 01:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:07:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:07:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:07:26 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 01:07:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/11 01:07:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:07:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:07:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:07:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:07:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 100.816[deg] [grasp_sample.py: 539] +05/11 01:07:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:07:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:07:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:07:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:07:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:07:36 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:07:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:07:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:07:56 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:07:59 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:07:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:07:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:08:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:08:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:08:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:08:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 16.16s (batch: 4.60s, save: 11.56s) [pipeline.py: 300] +05/11 01:08:16 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.58s: + episode_total: mean=216.77s, total=216.77s, count=1, min=216772.6ms, max=216772.6ms + sensor_polling: mean=535.8ms, total=160.73s, count=300, min=439.4ms, max=927.5ms + save_trajectories: mean=11.56s, total=11.56s, count=1, min=11557.7ms, max=11557.7ms + physics_step: mean=26.6ms, total=7.97s, count=300, min=16.3ms, max=124.5ms + save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4604.8ms, max=4604.8ms + task_sampling: mean=582.5ms, total=582.5ms, count=1, min=582.5ms, max=582.5ms + task_specific_sample: mean=578.6ms, total=578.6ms, count=1, min=578.6ms, max=578.6ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=456.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:08:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:08:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:08:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:08:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:08:18 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 01:08:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:08:18 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 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067700m [env.py: 870] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:08:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76762525 0.56303803 0.06769989] yaw=-183.2deg [env.py: 1019] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92997129 0.49290014 0.06769989] yaw=-174.0deg [env.py: 1019] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70964525 0.69947177 0.06769989] yaw=-175.5deg [env.py: 1019] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:08:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.7ms, total=133.7ms [env.py: 1075] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.563, 0.068) [env.py: 1079] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.2 deg [env.py: 1082] +05/11 01:08:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:08:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:08:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:08:18 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 01:08:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/11 01:08:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:08:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:08:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:08:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:08:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.466[m] 84.309[deg] [grasp_sample.py: 539] +05/11 01:08:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:08:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:08:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:08:23 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:08:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 01:08:23 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/11 01:08:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:08:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:08:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:08:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:08:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.55s (batch: 4.26s, save: 9.29s) [pipeline.py: 300] +05/11 01:08:37 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.57s: + episode_total: mean=211.05s, total=211.05s, count=1, min=211050.1ms, max=211050.1ms + sensor_polling: mean=535.8ms, total=155.93s, count=291, min=443.8ms, max=890.7ms + save_trajectories: mean=9.29s, total=9.29s, count=1, min=9287.0ms, max=9287.0ms + physics_step: mean=26.3ms, total=7.64s, count=291, min=18.4ms, max=130.2ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4263.8ms, max=4263.8ms + task_sampling: mean=566.7ms, total=566.7ms, count=1, min=566.7ms, max=566.7ms + task_specific_sample: mean=562.0ms, total=562.0ms, count=1, min=562.0ms, max=562.0ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=546.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:08:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:08:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:08:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:08:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:08:39 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 01:08:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:08:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069999m [env.py: 870] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:08:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96962827 1.13930153 0.06999854] yaw=-130.4deg [env.py: 1019] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84403357 0.2248159 0.06999854] yaw=166.3deg [env.py: 1019] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92898542 0.75883318 0.06999854] yaw=-171.5deg [env.py: 1019] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:08:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=622.1ms, total=622.1ms [env.py: 1075] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 1.139, 0.070) [env.py: 1079] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg [env.py: 1082] +05/11 01:08:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:08:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:08:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:08:40 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 01:08:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s [base_object_manipulation_planner_policy.py: 377] +05/11 01:08:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:08:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:08:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:08:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.733s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:08:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 93.706[deg] [grasp_sample.py: 539] +05/11 01:08:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:08:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:08:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:09:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:09:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:09:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:09:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:09:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:09:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:09:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:09:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:09:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:09:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:09:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:09:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:09:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:09:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.741s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:09:28 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.193[deg] [grasp_sample.py: 539] +05/11 01:09:30 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:09:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:09:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:09:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:09:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:09:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:09:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:09:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:09:31 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 01:09:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:09:31 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 01:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024336m [env.py: 870] +05/11 01:09:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:09:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.19326899 1.05713592 0.02433585] yaw=-132.4deg [env.py: 1019] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00016054 0.15123706 0.02433585] yaw=144.1deg [env.py: 1019] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92755703 0.27811194 0.02433585] yaw=166.9deg [env.py: 1019] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:09:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=393.8ms, total=393.9ms [env.py: 1075] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.193, 1.057, 0.024) [env.py: 1079] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.4 deg [env.py: 1082] +05/11 01:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m [env.py: 1086] +05/11 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:09:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:09:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:09:32 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 01:09:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 01:09:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:09:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:09:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:09:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:09:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.354[m] 95.899[deg] [grasp_sample.py: 539] +05/11 01:09:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:09:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:09:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:09:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:10:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:10:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:10:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:10:17 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:10:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:10:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:10:38 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:10:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:10:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:10:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:10:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:10:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.34s (batch: 4.35s, save: 8.99s) [pipeline.py: 300] +05/11 01:10:52 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s: + episode_total: mean=205.92s, total=205.92s, count=1, min=205924.7ms, max=205924.7ms + sensor_polling: mean=527.3ms, total=158.20s, count=300, min=433.2ms, max=927.0ms + save_trajectories: mean=8.99s, total=8.99s, count=1, min=8986.8ms, max=8986.8ms + physics_step: mean=25.9ms, total=7.78s, count=300, min=16.6ms, max=69.0ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4354.4ms, max=4354.4ms + task_sampling: mean=457.7ms, total=457.7ms, count=1, min=457.7ms, max=457.7ms + task_specific_sample: mean=453.8ms, total=453.8ms, count=1, min=453.8ms, max=453.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=476.2us, 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 01:10:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:10:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:10:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:10:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:10:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:10:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:10:54 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 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030932m [env.py: 870] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:10:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14725609 1.04957896 0.03093211] yaw=-123.1deg [env.py: 1019] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.933356 1.23562823 0.03093211] yaw=-127.7deg [env.py: 1019] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66386339 0.25345216 0.03093211] yaw=170.9deg [env.py: 1019] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:10:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.0ms, total=177.0ms [env.py: 1075] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.147, 1.050, 0.031) [env.py: 1079] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.1 deg [env.py: 1082] +05/11 01:10:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m [env.py: 1086] +05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:10:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:10:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:10:54 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 01:10:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/11 01:10:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:10:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:10:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.131s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:10:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.766s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:10:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.383[m] 95.491[deg] [grasp_sample.py: 539] +05/11 01:10:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:10:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:10:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:11:08 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:11:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:11:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:11:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:11:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:11:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.731s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:11:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.218[deg] [grasp_sample.py: 539] +05/11 01:11:34 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:11:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:11:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:11:35 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:11:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:11:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:11:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:11:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:11:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:11:36 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 01:11:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:11:36 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 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096305m [env.py: 870] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:11:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 129.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07556008 1.02621619 0.0963047 ] yaw=-148.5deg [env.py: 1019] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93203563 0.69690118 0.0963047 ] yaw=-165.6deg [env.py: 1019] +05/11 01:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90133029 0.44901761 0.0963047 ] yaw=171.1deg [env.py: 1019] +05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:11:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.6ms, total=270.6ms [env.py: 1075] +05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 1.026, 0.096) [env.py: 1079] +05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.5 deg [env.py: 1082] +05/11 01:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/11 01:11:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:11:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:11:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:11:37 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 01:11:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/11 01:11:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:11:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:11:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:11:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:11:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.232s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:11:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.445[m] 93.914[deg] [grasp_sample.py: 539] +05/11 01:11:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:11:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:11:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:11:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:11:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:11:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:11:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.68s (batch: 4.52s, save: 10.16s) [pipeline.py: 300] +05/11 01:11:49 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.43s: + episode_total: mean=211.09s, total=211.09s, count=1, min=211086.5ms, max=211086.5ms + sensor_polling: mean=515.4ms, total=154.62s, count=300, min=444.0ms, max=916.3ms + save_trajectories: mean=10.16s, total=10.16s, count=1, min=10163.5ms, max=10163.5ms + physics_step: mean=26.8ms, total=8.04s, count=300, min=15.0ms, max=106.3ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.2ms, max=4516.2ms + task_sampling: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms + task_specific_sample: mean=426.0ms, total=426.0ms, count=1, min=426.0ms, max=426.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=455.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:11:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:11:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:11:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:11:51 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 01:11:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:11:51 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 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006075m [env.py: 870] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:11:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66282692 0.20452573 0.00607487] yaw=169.5deg [env.py: 1019] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87750622 1.07042391 0.00607487] yaw=-155.9deg [env.py: 1019] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09958896 1.05063561 0.00607487] yaw=-130.3deg [env.py: 1019] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:11:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.7ms, total=295.7ms [env.py: 1075] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.663, 0.205, 0.006) [env.py: 1079] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg [env.py: 1082] +05/11 01:11:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:11:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:11:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:11:52 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 01:11:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/11 01:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:11:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:11:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:11:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:11:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.040s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:11:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.605[m] 80.216[deg] [grasp_sample.py: 539] +05/11 01:11:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:11:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:11:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:12:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:12:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:12:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:12:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:12:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:12:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:12:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.724s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:12:03 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.300[deg] [grasp_sample.py: 539] +05/11 01:12:04 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:12:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:12:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:12:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:12:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:12:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:12:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:12:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037888m [env.py: 870] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:12:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66350002 0.67970398 0.03788772] yaw=-160.4deg [env.py: 1019] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93581982 1.08023455 0.03788772] yaw=-131.4deg [env.py: 1019] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61972077 0.62236317 0.03788772] yaw=-183.6deg [env.py: 1019] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:12:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms [env.py: 1075] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.680, 0.038) [env.py: 1079] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg [env.py: 1082] +05/11 01:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m [env.py: 1086] +05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:12:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:12:07 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 01:12:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/11 01:12:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:12:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:12:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:12:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.939s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:12:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.622[m] 88.433[deg] [grasp_sample.py: 539] +05/11 01:12:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:12:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:12:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:12:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:12:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:12:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:13:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:13:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:13:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:13:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:13:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:13:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:13:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:13:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:13:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:13:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:13:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:13:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:13:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:13:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:13:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.621s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:13:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.268[deg] [grasp_sample.py: 539] +05/11 01:13:35 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:13:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:13:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:13:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:13:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:13:37 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 01:13:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:13:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083466m [env.py: 870] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:13:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79585751 0.82905212 0.0834661 ] yaw=-159.9deg [env.py: 1019] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9524958 0.89061067 0.0834661 ] yaw=-145.6deg [env.py: 1019] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91179361 0.97099895 0.0834661 ] yaw=-149.7deg [env.py: 1019] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:13:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.7ms, total=127.7ms [env.py: 1075] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.829, 0.083) [env.py: 1079] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg [env.py: 1082] +05/11 01:13:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:13:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:13:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:13:37 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 01:13:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 01:13:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:13:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:13:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:13:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.714s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:13:39 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.516[m] 77.360[deg] [grasp_sample.py: 539] +05/11 01:13:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:13:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:13:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:14:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:14:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:14:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:14:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:14:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:14:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:14:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:14:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:14:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:14:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:14:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:14:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.818s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:14:31 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.264[deg] [grasp_sample.py: 539] +05/11 01:14:33 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:14:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:14:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:14:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:14:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:14:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:14:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:14:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:14:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:14:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:14:34 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 01:14:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:14:34 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 01:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034307m [env.py: 870] +05/11 01:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:14:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84303402 0.62519028 0.03430668] yaw=-179.6deg [env.py: 1019] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73489129 0.79333864 0.03430668] yaw=-172.4deg [env.py: 1019] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91440587 0.54954698 0.03430668] yaw=-177.1deg [env.py: 1019] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:14:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=475.7ms, total=475.7ms [env.py: 1075] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.625, 0.034) [env.py: 1079] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.6 deg [env.py: 1082] +05/11 01:14:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/11 01:14:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:14:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:14:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:14:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:14:35 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 01:14:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/11 01:14:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:14:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:14:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:14:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:14:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.474[m] 99.993[deg] [grasp_sample.py: 539] +05/11 01:14:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:14:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:14:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:14:40 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:14:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:14:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:14:51 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:15:05 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:15:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:15:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:15:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 01:15:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:15:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:15:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:15:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.103s, found 84 non-colliding grasps [grasp_sample.py: 465] +05/11 01:15:13 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.894s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:15:13 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.852[deg] [grasp_sample.py: 539] +05/11 01:15:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:15:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:15:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:15:19 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:15:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 01:15:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:15:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:15:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:15:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.78s (batch: 4.49s, save: 10.28s) [pipeline.py: 300] +05/11 01:15:21 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.64s: + episode_total: mean=209.63s, total=209.63s, count=1, min=209633.8ms, max=209633.8ms + sensor_polling: mean=514.0ms, total=154.20s, count=300, min=455.5ms, max=799.7ms + save_trajectories: mean=10.28s, total=10.28s, count=1, min=10283.7ms, max=10283.7ms + physics_step: mean=25.7ms, total=7.72s, count=300, min=18.4ms, max=51.2ms + save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4492.8ms, max=4492.8ms + task_sampling: mean=637.6ms, total=637.6ms, count=1, min=637.6ms, max=637.6ms + task_specific_sample: mean=631.5ms, total=631.5ms, count=1, min=631.5ms, max=631.5ms + scene_randomize: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + mj_forward_sync: mean=699.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:15:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:15:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:15:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:15:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:15:23 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 01:15:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:15:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048850m [env.py: 870] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:15:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75193262 0.83687021 0.04885016] yaw=-162.8deg [env.py: 1019] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95815449 0.19397416 0.04885016] yaw=158.6deg [env.py: 1019] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91720607 0.88817433 0.04885016] yaw=-153.7deg [env.py: 1019] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:15:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms [env.py: 1075] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.837, 0.049) [env.py: 1079] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.8 deg [env.py: 1082] +05/11 01:15:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:15:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:15:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:15:23 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 01:15:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/11 01:15:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:15:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:15:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:15:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:15:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.928s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:15:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.549[m] 91.122[deg] [grasp_sample.py: 539] +05/11 01:15:31 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:15:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:15:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:15:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:15:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:15:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:15:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:15:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:15:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:15:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:15:32 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 01:15:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:15:32 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 01:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025732m [env.py: 870] +05/11 01:15:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:15:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73618945 0.93291535 0.02573235] yaw=-165.9deg [env.py: 1019] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7691473 0.16135564 0.02573235] yaw=159.2deg [env.py: 1019] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71097551 0.51976124 0.02573235] yaw=-189.0deg [env.py: 1019] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:15:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=461.7ms, total=461.7ms [env.py: 1075] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.933, 0.026) [env.py: 1079] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg [env.py: 1082] +05/11 01:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m [env.py: 1086] +05/11 01:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:15:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:15:33 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 01:15:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/11 01:15:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:15:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:15:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:15:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:15:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:15:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.74s (batch: 4.60s, save: 10.14s) [pipeline.py: 300] +05/11 01:15:34 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.69s: + episode_total: mean=172.89s, total=518.68s, count=3, min=152793.3ms, max=208263.3ms + sensor_polling: mean=505.3ms, total=408.77s, count=809, min=436.0ms, max=941.6ms + physics_step: mean=24.4ms, total=19.72s, count=809, min=14.9ms, max=93.3ms + save_trajectories: mean=10.14s, total=10.14s, count=1, min=10142.8ms, max=10142.8ms + save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4600.1ms, max=4600.1ms + task_sampling: mean=562.4ms, total=1.69s, count=3, min=473.8ms, max=683.0ms + task_specific_sample: mean=558.7ms, total=1.68s, count=3, min=470.1ms, max=679.8ms + scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.3ms, max=2.5ms + mj_forward_sync: mean=430.4us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=16.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:15:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:15:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:15:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:15:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:15:36 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 01:15:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:15:36 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 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047011m [env.py: 870] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:15:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8170683 1.09731259 0.04701104] yaw=-141.8deg [env.py: 1019] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93503871 1.06264163 0.04701104] yaw=-148.0deg [env.py: 1019] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81882568 0.31903686 0.04701104] yaw=166.2deg [env.py: 1019] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:15:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=240.0ms, total=240.1ms [env.py: 1075] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.817, 1.097, 0.047) [env.py: 1079] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.8 deg [env.py: 1082] +05/11 01:15:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:15:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:15:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:15:37 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 01:15:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s [base_object_manipulation_planner_policy.py: 377] +05/11 01:15:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:15:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:15:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:15:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.446s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:15:37 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.639[m] 92.473[deg] [grasp_sample.py: 539] +05/11 01:15:38 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:15:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:15:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:15:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:15:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:15:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:15:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:15:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:15:40 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 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076235m [env.py: 870] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:15:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73021273 0.569782 0.07623487] yaw=-180.0deg [env.py: 1019] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96130469 1.23550447 0.07623487] yaw=-131.4deg [env.py: 1019] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:15:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.7ms, total=229.7ms [env.py: 1075] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.570, 0.076) [env.py: 1079] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.0 deg [env.py: 1082] +05/11 01:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:15:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:15:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.332s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:15:40 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.712[m] 99.992[deg] [grasp_sample.py: 539] +05/11 01:15:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:15:40 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 01:15:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/11 01:15:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:15:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:15:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:15:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:15:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:15:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:15:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.748s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:15:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 94.023[deg] [grasp_sample.py: 539] +05/11 01:15:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:15:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:15:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:15:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:15:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:15:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:16:27 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:16:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:16:50 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:16:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:16:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:16:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:16:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:16:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:17:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:17:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:17:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.70s (batch: 5.00s, save: 9.70s) [pipeline.py: 300] +05/11 01:17:05 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.90s: + episode_total: mean=184.92s, total=369.85s, count=2, min=161238.3ms, max=208611.4ms + sensor_polling: mean=513.3ms, total=293.12s, count=571, min=437.2ms, max=966.3ms + physics_step: mean=26.0ms, total=14.84s, count=571, min=15.7ms, max=134.9ms + save_trajectories: mean=9.70s, total=9.70s, count=1, min=9702.1ms, max=9702.1ms + save_batch_prep: mean=5.00s, total=5.00s, count=1, min=4995.1ms, max=4995.1ms + task_sampling: mean=448.6ms, total=897.1ms, count=2, min=399.4ms, max=497.7ms + task_specific_sample: mean=444.5ms, total=889.0ms, count=2, min=396.2ms, max=492.8ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms + mj_forward_sync: mean=534.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:17:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:17:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:17:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:17:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:17:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:17:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:17:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:17:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:17:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:17:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:17:07 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 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027580m [env.py: 870] +05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:17:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8641577 0.93806892 0.02757969] yaw=-140.6deg [env.py: 1019] +05/11 01:17:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74302662 0.67726413 0.02757969] yaw=-160.3deg [env.py: 1019] +05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81374165 0.40992061 0.02757969] yaw=171.3deg [env.py: 1019] +05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:17:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=337.7ms, total=337.7ms [env.py: 1075] +05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.938, 0.028) [env.py: 1079] +05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.6 deg [env.py: 1082] +05/11 01:17:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/11 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:17:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:17:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:17:08 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 01:17:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/11 01:17:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:17:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:17:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:17:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.965s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:17:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 93.075[deg] [grasp_sample.py: 539] +05/11 01:17:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:17:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:17:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:17:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:17:26 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:17:56 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:17:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 01:17:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:18:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:18:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:18:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:18:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.95s (batch: 4.74s, save: 10.22s) [pipeline.py: 300] +05/11 01:18:11 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=2.25s: + episode_total: mean=189.62s, total=568.87s, count=3, min=175689.7ms, max=216762.6ms + sensor_polling: mean=515.9ms, total=451.44s, count=875, min=434.7ms, max=963.9ms + physics_step: mean=24.3ms, total=21.25s, count=875, min=17.3ms, max=72.3ms + save_trajectories: mean=10.22s, total=10.22s, count=1, min=10216.0ms, max=10216.0ms + save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4737.7ms, max=4737.7ms + task_sampling: mean=751.6ms, total=2.25s, count=3, min=528.7ms, max=982.7ms + task_specific_sample: mean=746.4ms, total=2.24s, count=3, min=525.7ms, max=974.4ms + scene_randomize: mean=3.2ms, total=9.6ms, count=3, min=1.3ms, max=6.8ms + mj_forward_sync: mean=504.7us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=19.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:18:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:18:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:18:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:18:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:18:13 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 01:18:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:18:13 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 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049791m [env.py: 870] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:18:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97874704 0.15561878 0.04979086] yaw=158.5deg [env.py: 1019] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93230919 0.08012078 0.04979086] yaw=145.9deg [env.py: 1019] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90899298 0.37382178 0.04979086] yaw=170.8deg [env.py: 1019] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms [env.py: 1075] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.156, 0.050) [env.py: 1079] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg [env.py: 1082] +05/11 01:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m [env.py: 1086] +05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:18:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:18:13 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 01:18:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/11 01:18:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:18:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:18:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:18:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.687s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:18:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.390[m] 91.844[deg] [grasp_sample.py: 539] +05/11 01:18:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:18:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:18:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:18:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:18:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:18:25 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:18:46 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:18:51 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:18:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 01:18:51 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:18:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:19:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:19:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:19:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.26s (batch: 4.86s, save: 9.40s) [pipeline.py: 300] +05/11 01:19:06 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.56s: + episode_total: mean=210.22s, total=210.22s, count=1, min=210221.3ms, max=210221.3ms + sensor_polling: mean=513.6ms, total=154.09s, count=300, min=440.3ms, max=996.7ms + save_trajectories: mean=9.40s, total=9.40s, count=1, min=9400.9ms, max=9400.9ms + physics_step: mean=24.0ms, total=7.20s, count=300, min=14.7ms, max=91.6ms + save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4857.8ms, max=4857.8ms + task_sampling: mean=555.6ms, total=555.6ms, count=1, min=555.6ms, max=555.6ms + task_specific_sample: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=412.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.9us, 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 01:19:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:19:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:19:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:19:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:19:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:19:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:19:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019149m [env.py: 870] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:19:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05237895 1.01868004 0.01914921] yaw=-137.5deg [env.py: 1019] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70781492 0.11485943 0.01914921] yaw=168.6deg [env.py: 1019] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65081496 0.20178327 0.01914921] yaw=170.6deg [env.py: 1019] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:19:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.9ms, total=94.9ms [env.py: 1075] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.052, 1.019, 0.019) [env.py: 1079] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg [env.py: 1082] +05/11 01:19:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:19:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:19:09 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 01:19:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/11 01:19:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:19:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:19:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:19:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:19:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:19:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.418[m] 87.757[deg] [grasp_sample.py: 539] +05/11 01:19:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:19:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:19:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:19:10 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:19:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:19:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:19:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:19:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:19:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:19:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.95s (batch: 4.16s, save: 8.79s) [pipeline.py: 300] +05/11 01:19:24 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.85s: + episode_total: mean=79.14s, total=237.41s, count=3, min=5552.6ms, max=223771.2ms + sensor_polling: mean=514.7ms, total=154.41s, count=300, min=446.0ms, max=913.8ms + save_trajectories: mean=8.79s, total=8.79s, count=1, min=8788.3ms, max=8788.3ms + physics_step: mean=24.2ms, total=7.26s, count=300, min=18.3ms, max=51.7ms + save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.0ms, max=4158.0ms + task_sampling: mean=615.3ms, total=1.85s, count=3, min=489.6ms, max=814.7ms + task_specific_sample: mean=611.8ms, total=1.84s, count=3, min=486.9ms, max=811.1ms + scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.2ms, max=2.8ms + mj_forward_sync: mean=469.4us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=18.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:19:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:19:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:19:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:19:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:19:25 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 01:19:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:19:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041514m [env.py: 870] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:19:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.20584982 1.09808866 0.0415141 ] yaw=-132.5deg [env.py: 1019] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73512581 0.22788235 0.0415141 ] yaw=170.8deg [env.py: 1019] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79448476 1.01585712 0.0415141 ] yaw=-139.2deg [env.py: 1019] +05/11 01:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:19:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.3ms, total=187.3ms [env.py: 1075] +05/11 01:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.206, 1.098, 0.042) [env.py: 1079] +05/11 01:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg [env.py: 1082] +05/11 01:19:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m [env.py: 1086] +05/11 01:19:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:19:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:19:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:19:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:19:26 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 01:19:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/11 01:19:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:19:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:19:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:19:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:19:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.380[m] 87.137[deg] [grasp_sample.py: 539] +05/11 01:19:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:19:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:19:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:19:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:19:54 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:20:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:20:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:20:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:20:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:20:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:20:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:20:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:20:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:20:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 01:20:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.454s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:20:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.093[deg] [grasp_sample.py: 539] +05/11 01:20:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:20:16 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:20:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:20:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:20:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:20:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:20:18 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 01:20:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:20:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018823m [env.py: 870] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:20:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03448841 1.23831279 0.01882287] yaw=-141.1deg [env.py: 1019] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64787606 0.27231223 0.01882287] yaw=171.3deg [env.py: 1019] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83751008 0.73580633 0.01882287] yaw=-164.5deg [env.py: 1019] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:20:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.7ms, total=245.8ms [env.py: 1075] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.034, 1.238, 0.019) [env.py: 1079] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg [env.py: 1082] +05/11 01:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:20:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:20:18 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 01:20:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/11 01:20:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:20:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:20:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:20:19 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:20:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:20:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:20:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:20:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.694s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:20:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 87.297[deg] [grasp_sample.py: 539] +05/11 01:20:21 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:20:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:20:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:20:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:20:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:20:23 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 01:20:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:20:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010281m [env.py: 870] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:20:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.882288 1.01623007 0.01028124] yaw=-153.7deg [env.py: 1019] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85910866 0.27574051 0.01028124] yaw=173.2deg [env.py: 1019] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65477632 0.23826548 0.01028124] yaw=157.9deg [env.py: 1019] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:20:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.4ms, total=199.4ms [env.py: 1075] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 1.016, 0.010) [env.py: 1079] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg [env.py: 1082] +05/11 01:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:20:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:20:24 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 01:20:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/11 01:20:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:20:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:20:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:20:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.762s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:20:33 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.531[m] 86.039[deg] [grasp_sample.py: 539] +05/11 01:20:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:20:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:20:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:20:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:20:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:20:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.22s (batch: 4.89s, save: 10.33s) [pipeline.py: 300] +05/11 01:20:35 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.66s: + episode_total: mean=208.07s, total=208.07s, count=1, min=208073.0ms, max=208073.0ms + sensor_polling: mean=511.1ms, total=153.33s, count=300, min=436.8ms, max=984.9ms + save_trajectories: mean=10.33s, total=10.33s, count=1, min=10330.6ms, max=10330.6ms + physics_step: mean=25.1ms, total=7.52s, count=300, min=17.9ms, max=106.7ms + save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4886.6ms, max=4886.6ms + task_sampling: mean=662.3ms, total=662.3ms, count=1, min=662.3ms, max=662.3ms + task_specific_sample: mean=658.6ms, total=658.6ms, count=1, min=658.6ms, max=658.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=519.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.0us, 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 01:20:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:20:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:20:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:20:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:20:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:20:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:20:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:20:37 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 01:20:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:20:37 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 01:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008795m [env.py: 870] +05/11 01:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:20:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:20:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82776748 0.31146456 0.00879518] yaw=162.1deg [env.py: 1019] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86060839 0.47730959 0.00879518] yaw=183.6deg [env.py: 1019] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70898278 0.12555192 0.00879518] yaw=169.5deg [env.py: 1019] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:20:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=376.9ms, total=377.0ms [env.py: 1075] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.828, 0.311, 0.009) [env.py: 1079] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg [env.py: 1082] +05/11 01:20:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m [env.py: 1086] +05/11 01:20:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:20:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:20:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:20:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:20:38 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 01:20:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/11 01:20:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:20:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:20:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:20:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.981s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:20:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.409[m] 78.876[deg] [grasp_sample.py: 539] +05/11 01:20:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:20:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:20:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:21:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:21:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:21:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:21:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:21:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:21:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:21:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:21:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:21:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.869s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:21:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.226[deg] [grasp_sample.py: 539] +05/11 01:21:56 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:21:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:21:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:21:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:21:58 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 01:21:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:21:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069261m [env.py: 870] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:21:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:21:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79484152 0.80013879 0.06926129] yaw=-150.8deg [env.py: 1019] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77463404 0.21041098 0.06926129] yaw=164.2deg [env.py: 1019] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97717551 0.70647165 0.06926129] yaw=-165.9deg [env.py: 1019] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:21:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.1ms, total=228.1ms [env.py: 1075] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.800, 0.069) [env.py: 1079] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.8 deg [env.py: 1082] +05/11 01:21:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:21:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:21:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:21:58 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 01:21:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/11 01:21:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:21:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:21:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:21:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.713s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:21:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.565[m] 93.537[deg] [grasp_sample.py: 539] +05/11 01:21:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:22:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:22:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:22:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:22:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:22:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:22:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:22:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:22:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:22:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.995s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:22:03 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.285[deg] [grasp_sample.py: 539] +05/11 01:22:05 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:22:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:22:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:22:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:22:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:22:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:22:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:22:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:22:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:22:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:22:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076680m [env.py: 870] +05/11 01:22:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:22:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92314954 1.10485947 0.0766802 ] yaw=-134.8deg [env.py: 1019] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63024405 0.66377445 0.0766802 ] yaw=-171.4deg [env.py: 1019] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 132.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67610444 0.34624319 0.0766802 ] yaw=172.6deg [env.py: 1019] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:22:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=315.5ms, total=315.6ms [env.py: 1075] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.923, 1.105, 0.077) [env.py: 1079] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg [env.py: 1082] +05/11 01:22:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/11 01:22:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:22:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:22:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:22:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:22:07 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 01:22:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 01:22:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:22:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:22:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:22:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.946s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:22:09 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.613[m] 91.726[deg] [grasp_sample.py: 539] +05/11 01:22:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:22:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:22:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:22:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:23:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:23:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:23:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:23:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:23:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:23:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:23:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:23:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:23:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:23:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 01:23:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:23:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.702s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:23:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.643[deg] [grasp_sample.py: 539] +05/11 01:23:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:23:29 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:23:31 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:23:55 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:23:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 01:23:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:23:59 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:23:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:23:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:24:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:24:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:24:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.36s (batch: 3.93s, save: 10.44s) [pipeline.py: 300] +05/11 01:24:10 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.44s: + episode_total: mean=117.84s, total=353.53s, count=3, min=3500.8ms, max=226852.3ms + sensor_polling: mean=518.1ms, total=253.33s, count=489, min=442.1ms, max=868.0ms + physics_step: mean=23.7ms, total=11.61s, count=489, min=14.5ms, max=59.2ms + save_trajectories: mean=10.44s, total=10.44s, count=1, min=10435.0ms, max=10435.0ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3928.6ms, max=3928.6ms + task_sampling: mean=480.5ms, total=1.44s, count=3, min=430.6ms, max=528.7ms + task_specific_sample: mean=476.4ms, total=1.43s, count=3, min=426.2ms, max=525.4ms + scene_randomize: mean=2.1ms, total=6.2ms, count=3, min=1.3ms, max=2.8ms + mj_forward_sync: mean=481.3us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=17.9us, 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 01:24:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:24:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:24:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:24:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:24:12 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 01:24:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:24:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061125m [env.py: 870] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:24:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7052415 0.65116065 0.06112526] yaw=-160.6deg [env.py: 1019] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.02381396 1.25283957 0.06112526] yaw=-126.3deg [env.py: 1019] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:24:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.3ms [env.py: 1075] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.651, 0.061) [env.py: 1079] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.6 deg [env.py: 1082] +05/11 01:24:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m [env.py: 1086] +05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:24:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:24:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:24:13 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 01:24:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/11 01:24:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:24:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:24:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:24:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:24:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.556[m] 85.137[deg] [grasp_sample.py: 539] +05/11 01:24:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:24:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:24:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:24:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:24:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:24:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 15.75s (batch: 4.97s, save: 10.78s) [pipeline.py: 300] +05/11 01:24:15 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.69s: + episode_total: mean=218.05s, total=218.05s, count=1, min=218046.2ms, max=218046.2ms + sensor_polling: mean=518.7ms, total=155.61s, count=300, min=443.5ms, max=821.3ms + save_trajectories: mean=10.78s, total=10.78s, count=1, min=10779.7ms, max=10779.7ms + physics_step: mean=26.6ms, total=7.98s, count=300, min=18.7ms, max=55.6ms + save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4974.8ms, max=4974.8ms + task_sampling: mean=694.1ms, total=694.1ms, count=1, min=694.1ms, max=694.1ms + task_specific_sample: mean=689.9ms, total=689.9ms, count=1, min=689.9ms, max=689.9ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=505.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.7us, 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 01:24:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:24:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:24:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:24:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:24:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:24:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:24:17 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 01:24:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:24:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020788m [env.py: 870] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:24:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95672894 0.92231154 0.02078793] yaw=-153.9deg [env.py: 1019] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68725466 0.25258337 0.02078793] yaw=176.4deg [env.py: 1019] +05/11 01:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77346627 0.90575767 0.02078793] yaw=-163.0deg [env.py: 1019] +05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:24:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=323.8ms, total=323.8ms [env.py: 1075] +05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.957, 0.922, 0.021) [env.py: 1079] +05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg [env.py: 1082] +05/11 01:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/11 01:24:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:24:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:24:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:24:18 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 01:24:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/11 01:24:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:24:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:24:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:24:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.790s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:24:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.431[m] 86.325[deg] [grasp_sample.py: 539] +05/11 01:24:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:24:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:24:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:24:45 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:24:54 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:25:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:25:10 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:25:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:25:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:25:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:25:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:25:21 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:25:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 01:25:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:25:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:25:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:25:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:25:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 13.98s (batch: 4.98s, save: 9.00s) [pipeline.py: 300] +05/11 01:25:25 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.03s: + episode_total: mean=178.80s, total=357.59s, count=2, min=150629.3ms, max=206964.3ms + sensor_polling: mean=516.8ms, total=279.08s, count=540, min=431.6ms, max=851.4ms + physics_step: mean=24.9ms, total=13.46s, count=540, min=16.2ms, max=61.6ms + save_trajectories: mean=9.00s, total=9.00s, count=1, min=8995.4ms, max=8995.4ms + save_batch_prep: mean=4.98s, total=4.98s, count=1, min=4983.2ms, max=4983.2ms + task_sampling: mean=512.6ms, total=1.03s, count=2, min=485.6ms, max=539.7ms + task_specific_sample: mean=508.6ms, total=1.02s, count=2, min=481.5ms, max=535.8ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms + mj_forward_sync: mean=517.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:25:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:25:26 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/11 01:25:26 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/11 01:25:26 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes [pipeline.py: 1323] +05/11 01:25:26 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5785.88s + House averages: + episode_total: mean=176.70s, total=3180.64s, count=18, min=2377.2ms, max=245561.7ms + sensor_polling: mean=522.4ms, total=2271.86s, count=4349, min=431.6ms, max=1208.8ms + save_trajectories: mean=9.99s, total=129.90s, count=13, min=8666.5ms, max=12890.2ms + physics_step: mean=25.7ms, total=111.57s, count=4349, min=13.7ms, max=135.0ms + save_batch_prep: mean=4.62s, total=60.09s, count=13, min=4158.0ms, max=5119.9ms + task_sampling: mean=752.3ms, total=13.54s, count=18, min=400.9ms, max=4306.7ms + task_specific_sample: mean=556.3ms, total=10.01s, count=18, min=397.6ms, max=843.5ms + scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms + scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms + scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms + compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms + scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms + compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms + scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms + asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms + compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.2ms, max=4.4ms + asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms + mj_forward_sync: mean=476.1us, total=8.6ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms + policy_setup: mean=22.4us, 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 01:25:26 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 01:25:26 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5785.88s + Worker averages: + episode_total: mean=176.70s, total=3180.64s, count=18, min=2377.2ms, max=245561.7ms + sensor_polling: mean=522.4ms, total=2271.86s, count=4349, min=431.6ms, max=1208.8ms + save_trajectories: mean=9.99s, total=129.90s, count=13, min=8666.5ms, max=12890.2ms + physics_step: mean=25.7ms, total=111.57s, count=4349, min=13.7ms, max=135.0ms + save_batch_prep: mean=4.62s, total=60.09s, count=13, min=4158.0ms, max=5119.9ms + task_sampling: mean=752.3ms, total=13.54s, count=18, min=400.9ms, max=4306.7ms + task_specific_sample: mean=556.3ms, total=10.01s, count=18, min=397.6ms, max=843.5ms + scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms + scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms + scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms + compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms + scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms + compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms + scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms + asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms + compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.2ms, max=4.4ms + asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms + mj_forward_sync: mean=476.1us, total=8.6ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms + policy_setup: mean=22.4us, 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 01:25:29 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 01:25:29 INFO: Success count: 13, Total count: 13 [pipeline.py: 1491] +05/11 01:25:29 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 01:25:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:25:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:25:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:25:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.63s (batch: 4.40s, save: 8.23s) [pipeline.py: 300] +05/11 01:25:34 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.98s: + episode_total: mean=192.17s, total=384.34s, count=2, min=176410.1ms, max=207930.6ms + sensor_polling: mean=514.2ms, total=302.85s, count=589, min=440.6ms, max=857.7ms + physics_step: mean=24.4ms, total=14.35s, count=589, min=14.7ms, max=75.6ms + save_trajectories: mean=8.23s, total=8.23s, count=1, min=8227.5ms, max=8227.5ms + save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.0ms, max=4401.0ms + task_sampling: mean=491.8ms, total=983.7ms, count=2, min=403.5ms, max=580.2ms + task_specific_sample: mean=488.1ms, total=976.1ms, count=2, min=399.6ms, max=576.5ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.6ms + mj_forward_sync: mean=483.5us, total=1.0ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=16.9us, 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 01:25:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:25:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:25:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:25:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:25:36 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 01:25:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:25:36 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 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078737m [env.py: 870] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:25:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90937513 1.22019679 0.07873666] yaw=-142.7deg [env.py: 1019] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:25:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.6ms, total=166.6ms [env.py: 1075] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 1.220, 0.079) [env.py: 1079] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg [env.py: 1082] +05/11 01:25:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:25:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:25:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:25:36 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 01:25:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 01:25:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:25:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:25:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:25:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.605s, found feasible grasp: False [grasp_sample.py: 500] +05/11 01:25:38 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 01:25:40 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/11 01:25:40 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/11 01:25:40 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes [pipeline.py: 1323] +05/11 01:25:40 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5896.49s + House averages: + episode_total: mean=177.43s, total=3193.71s, count=18, min=2239.1ms, max=222819.1ms + sensor_polling: mean=517.1ms, total=2394.90s, count=4631, min=427.7ms, max=1043.5ms + physics_step: mean=25.0ms, total=115.74s, count=4631, min=14.0ms, max=128.7ms + save_trajectories: mean=9.84s, total=108.25s, count=11, min=7911.5ms, max=11539.1ms + save_batch_prep: mean=4.60s, total=50.64s, count=11, min=4213.1ms, max=4867.0ms + task_sampling: mean=782.5ms, total=14.08s, count=18, min=403.5ms, max=4530.2ms + task_specific_sample: mean=566.0ms, total=10.19s, count=18, min=399.6ms, max=802.8ms + scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms + scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms + scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms + compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms + compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms + scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms + scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms + asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms + compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + scene_randomize: mean=2.4ms, total=42.5ms, count=18, min=1.1ms, max=3.8ms + asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms + compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms + mj_forward_sync: mean=495.3us, total=8.9ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=21.3us, 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 01:25:40 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 01:25:40 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5896.49s + Worker averages: + episode_total: mean=177.43s, total=3193.71s, count=18, min=2239.1ms, max=222819.1ms + sensor_polling: mean=517.1ms, total=2394.90s, count=4631, min=427.7ms, max=1043.5ms + physics_step: mean=25.0ms, total=115.74s, count=4631, min=14.0ms, max=128.7ms + save_trajectories: mean=9.84s, total=108.25s, count=11, min=7911.5ms, max=11539.1ms + save_batch_prep: mean=4.60s, total=50.64s, count=11, min=4213.1ms, max=4867.0ms + task_sampling: mean=782.5ms, total=14.08s, count=18, min=403.5ms, max=4530.2ms + task_specific_sample: mean=566.0ms, total=10.19s, count=18, min=399.6ms, max=802.8ms + scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms + scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms + scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms + compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms + compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms + scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms + scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms + asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms + compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + scene_randomize: mean=2.4ms, total=42.5ms, count=18, min=1.1ms, max=3.8ms + asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms + compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms + mj_forward_sync: mean=495.3us, total=8.9ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=21.3us, 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 01:25:43 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 01:25:43 INFO: Success count: 11, Total count: 11 [pipeline.py: 1491] +05/11 01:25:43 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 01:26:55 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:26:59 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:27:20 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:27:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 01:27:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:27:26 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:27:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:27:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:27:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:27:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:27:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.03s (batch: 4.09s, save: 7.94s) [pipeline.py: 300] +05/11 01:27:33 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.52s: + episode_total: mean=200.88s, total=200.88s, count=1, min=200875.7ms, max=200875.7ms + sensor_polling: mean=504.6ms, total=151.39s, count=300, min=443.2ms, max=1158.1ms + save_trajectories: mean=7.94s, total=7.94s, count=1, min=7941.1ms, max=7941.1ms + physics_step: mean=22.1ms, total=6.63s, count=300, min=17.5ms, max=35.3ms + save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4087.0ms, max=4087.0ms + task_sampling: mean=517.6ms, total=517.6ms, count=1, min=517.6ms, max=517.6ms + task_specific_sample: mean=512.8ms, total=512.8ms, count=1, min=512.8ms, max=512.8ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=667.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:27:35 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/11 01:27:35 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/11 01:27:35 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes [pipeline.py: 1323] +05/11 01:27:35 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=6095.32s + House averages: + episode_total: mean=183.74s, total=3307.36s, count=18, min=3500.8ms, max=261529.0ms + sensor_polling: mean=524.6ms, total=2461.99s, count=4693, min=434.7ms, max=1158.1ms + save_trajectories: mean=9.83s, total=117.91s, count=12, min=7941.1ms, max=11722.2ms + physics_step: mean=25.1ms, total=117.83s, count=4693, min=14.5ms, max=132.9ms + save_batch_prep: mean=4.52s, total=54.21s, count=12, min=3928.6ms, max=5214.6ms + task_sampling: mean=872.3ms, total=15.70s, count=18, min=430.6ms, max=4555.0ms + task_specific_sample: mean=672.8ms, total=12.11s, count=18, min=426.2ms, max=1039.6ms + scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms + scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms + scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms + compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms + compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms + scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms + compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms + compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms + scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms + asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms + scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.1ms, max=6.8ms + asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms + compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms + mj_forward_sync: mean=523.8us, total=9.4ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms + policy_setup: mean=22.2us, 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 01:27:35 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 01:27:35 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=6095.32s + Worker averages: + episode_total: mean=183.74s, total=3307.36s, count=18, min=3500.8ms, max=261529.0ms + sensor_polling: mean=524.6ms, total=2461.99s, count=4693, min=434.7ms, max=1158.1ms + save_trajectories: mean=9.83s, total=117.91s, count=12, min=7941.1ms, max=11722.2ms + physics_step: mean=25.1ms, total=117.83s, count=4693, min=14.5ms, max=132.9ms + save_batch_prep: mean=4.52s, total=54.21s, count=12, min=3928.6ms, max=5214.6ms + task_sampling: mean=872.3ms, total=15.70s, count=18, min=430.6ms, max=4555.0ms + task_specific_sample: mean=672.8ms, total=12.11s, count=18, min=426.2ms, max=1039.6ms + scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms + scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms + scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms + compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms + compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms + scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms + compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms + compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms + scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms + asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms + scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.1ms, max=6.8ms + asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms + compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms + mj_forward_sync: mean=523.8us, total=9.4ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms + policy_setup: mean=22.2us, 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 01:27:38 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 01:27:38 INFO: Success count: 12, Total count: 12 [pipeline.py: 1491] +05/11 01:27:38 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/11 01:27:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:27:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:27:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 14.00s (batch: 4.13s, save: 9.86s) [pipeline.py: 300] +05/11 01:27:41 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.64s: + episode_total: mean=204.13s, total=204.13s, count=1, min=204125.8ms, max=204125.8ms + sensor_polling: mean=498.0ms, total=149.39s, count=300, min=431.6ms, max=769.0ms + save_trajectories: mean=9.86s, total=9.86s, count=1, min=9863.7ms, max=9863.7ms + physics_step: mean=23.6ms, total=7.08s, count=300, min=14.9ms, max=60.9ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4131.7ms, max=4131.7ms + task_sampling: mean=642.6ms, total=642.6ms, count=1, min=642.6ms, max=642.6ms + task_specific_sample: mean=638.5ms, total=638.5ms, count=1, min=638.5ms, max=638.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=528.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:27:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:27:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:27:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:27:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:27:43 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 01:27:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:27:43 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 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007669m [env.py: 870] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:27:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74168338 0.36468161 0.00766889] yaw=163.4deg [env.py: 1019] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70008901 0.5505019 0.00766889] yaw=-171.7deg [env.py: 1019] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01510742 1.09344213 0.00766889] yaw=-135.9deg [env.py: 1019] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:27:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=291.0ms, total=291.0ms [env.py: 1075] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.742, 0.365, 0.008) [env.py: 1079] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.4 deg [env.py: 1082] +05/11 01:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:27:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:27:44 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 01:27:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 01:27:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:27:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:27:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:27:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.678s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:27:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.499[m] 88.368[deg] [grasp_sample.py: 539] +05/11 01:27:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:27:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:27:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:28:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:28:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:28:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:30:20 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:30:45 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 [pipeline.py: 1174] +05/11 01:30:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:30:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:30:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:30:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 [save_utils.py: 785] +05/11 01:30:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_012 in 12.83s (batch: 4.22s, save: 8.61s) [pipeline.py: 300] +05/11 01:30:58 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.59s: + episode_total: mean=195.20s, total=195.20s, count=1, min=195200.5ms, max=195200.5ms + sensor_polling: mean=471.1ms, total=141.34s, count=300, min=419.6ms, max=726.3ms + save_trajectories: mean=8.61s, total=8.61s, count=1, min=8608.4ms, max=8608.4ms + physics_step: mean=23.5ms, total=7.04s, count=300, min=14.3ms, max=58.4ms + save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4219.8ms, max=4219.8ms + task_sampling: mean=591.2ms, total=591.2ms, count=1, min=591.2ms, max=591.2ms + task_specific_sample: mean=586.9ms, total=586.9ms, count=1, min=586.9ms, max=586.9ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=501.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.9us, 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 01:31:00 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/11 01:31:00 WARNING: [Worker 0] No trajectory data to save for chunk_012 [pipeline.py: 234] +05/11 01:31:00 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes [pipeline.py: 1323] +05/11 01:31:00 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=6467.05s + House averages: + episode_total: mean=195.16s, total=3512.89s, count=18, min=8707.6ms, max=252989.3ms + sensor_polling: mean=518.0ms, total=2587.73s, count=4996, min=419.6ms, max=1059.9ms + save_trajectories: mean=9.89s, total=138.51s, count=14, min=8380.2ms, max=11451.4ms + physics_step: mean=26.0ms, total=129.83s, count=4996, min=14.3ms, max=135.1ms + save_batch_prep: mean=4.62s, total=64.64s, count=14, min=4009.6ms, max=5300.5ms + task_sampling: mean=774.7ms, total=13.95s, count=18, min=398.7ms, max=4368.9ms + task_specific_sample: mean=553.0ms, total=9.95s, count=18, min=393.2ms, max=1096.9ms + scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms + scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms + scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms + compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms + compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms + scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms + compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + scene_randomize: mean=2.3ms, total=42.1ms, count=18, min=1.1ms, max=3.5ms + scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms + asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms + compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms + mj_forward_sync: mean=498.6us, total=9.0ms, count=18, min=0.4ms, max=0.7ms + asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=21.1us, 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 01:31:00 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 01:31:00 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6467.05s + Worker averages: + episode_total: mean=195.16s, total=3512.89s, count=18, min=8707.6ms, max=252989.3ms + sensor_polling: mean=518.0ms, total=2587.73s, count=4996, min=419.6ms, max=1059.9ms + save_trajectories: mean=9.89s, total=138.51s, count=14, min=8380.2ms, max=11451.4ms + physics_step: mean=26.0ms, total=129.83s, count=4996, min=14.3ms, max=135.1ms + save_batch_prep: mean=4.62s, total=64.64s, count=14, min=4009.6ms, max=5300.5ms + task_sampling: mean=774.7ms, total=13.95s, count=18, min=398.7ms, max=4368.9ms + task_specific_sample: mean=553.0ms, total=9.95s, count=18, min=393.2ms, max=1096.9ms + scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms + scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms + scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms + compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms + compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms + scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms + compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + scene_randomize: mean=2.3ms, total=42.1ms, count=18, min=1.1ms, max=3.5ms + scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms + asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms + compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms + mj_forward_sync: mean=498.6us, total=9.0ms, count=18, min=0.4ms, max=0.7ms + asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=21.1us, 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 01:31:03 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 01:31:03 INFO: Success count: 14, Total count: 14 [pipeline.py: 1491] +05/11 01:31:03 INFO: Success rate: 100.00% [pipeline.py: 1492] diff --git a/fridge_7/chunk_012/shard_1_of_4.log b/fridge_7/chunk_012/shard_1_of_4.log index 51121c78620149f739e4f4f40a1280c7e98a358f..e4fddf349f3811161c2b9dd234548b49686acafb 100644 --- a/fridge_7/chunk_012/shard_1_of_4.log +++ b/fridge_7/chunk_012/shard_1_of_4.log @@ -1131,3 +1131,587 @@ ValueError: IK failed for pregrasp pose [05/11 01:05:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp [05/11 01:05:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/11 01:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:07:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:07:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:07:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/11 01:07:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:07:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes +[05/11 01:07:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:08:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:08:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:08:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 16.16s (batch: 4.60s, save: 11.56s) +[05/11 01:08:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.58s: + episode_total: mean=216.77s, total=216.77s, count=1, min=216772.6ms, max=216772.6ms + sensor_polling: mean=535.8ms, total=160.73s, count=300, min=439.4ms, max=927.5ms + save_trajectories: mean=11.56s, total=11.56s, count=1, min=11557.7ms, max=11557.7ms + physics_step: mean=26.6ms, total=7.97s, count=300, min=16.3ms, max=124.5ms + save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4604.8ms, max=4604.8ms + task_sampling: mean=582.5ms, total=582.5ms, count=1, min=582.5ms, max=582.5ms + task_specific_sample: mean=578.6ms, total=578.6ms, count=1, min=578.6ms, max=578.6ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=456.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:08:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:08:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:08:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:08:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:08:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:08:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:08:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:08:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:08:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:08:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:08:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m) +[05/11 01:08:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:08:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:08:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067700m +[05/11 01:08:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:08:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:08:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:08:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76762525 0.56303803 0.06769989] yaw=-183.2deg +[05/11 01:08:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:08:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92997129 0.49290014 0.06769989] yaw=-174.0deg +[05/11 01:08:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:08:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:08:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:08:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:08:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70964525 0.69947177 0.06769989] yaw=-175.5deg +[05/11 01:08:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:08:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:08:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.7ms, total=133.7ms +[05/11 01:08:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.563, 0.068) +[05/11 01:08:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.2 deg +[05/11 01:08:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.938m +[05/11 01:08:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:08:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:08:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:08:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:08:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:08:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 01:08:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s +[05/11 01:08:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:08:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:08:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps +[05/11 01:08:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.538s, found feasible grasp: True +[05/11 01:08:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.466[m] 84.309[deg] +[05/11 01:08:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:08:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:08:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:09:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:11:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/11 01:11:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:11:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes +[05/11 01:11:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:11:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:11:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:11:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.68s (batch: 4.52s, save: 10.16s) +[05/11 01:11:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.43s: + episode_total: mean=211.09s, total=211.09s, count=1, min=211086.5ms, max=211086.5ms + sensor_polling: mean=515.4ms, total=154.62s, count=300, min=444.0ms, max=916.3ms + save_trajectories: mean=10.16s, total=10.16s, count=1, min=10163.5ms, max=10163.5ms + physics_step: mean=26.8ms, total=8.04s, count=300, min=15.0ms, max=106.3ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.2ms, max=4516.2ms + task_sampling: mean=430.2ms, total=430.2ms, count=1, min=430.2ms, max=430.2ms + task_specific_sample: mean=426.0ms, total=426.0ms, count=1, min=426.0ms, max=426.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=455.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:11:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:11:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:11:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:11:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:11:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:11:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:11:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:11:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:11:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:11:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:11:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) +[05/11 01:11:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:11:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:11:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006075m +[05/11 01:11:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:11:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:11:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:11:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:11:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66282692 0.20452573 0.00607487] yaw=169.5deg +[05/11 01:11:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:11:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:11:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87750622 1.07042391 0.00607487] yaw=-155.9deg +[05/11 01:11:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:11:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09958896 1.05063561 0.00607487] yaw=-130.3deg +[05/11 01:11:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:11:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:11:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.7ms, total=295.7ms +[05/11 01:11:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.663, 0.205, 0.006) +[05/11 01:11:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg +[05/11 01:11:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m +[05/11 01:11:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:11:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:11:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:11:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:11:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:11:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 01:11:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.124s +[05/11 01:11:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:11:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:11:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps +[05/11 01:11:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.040s, found feasible grasp: True +[05/11 01:11:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.605[m] 80.216[deg] +[05/11 01:11:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:11:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:11:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:13:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:13:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:13:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:14:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True +[05/11 01:15:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:15:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes +[05/11 01:15:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:15:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:15:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:15:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.78s (batch: 4.49s, save: 10.28s) +[05/11 01:15:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.64s: + episode_total: mean=209.63s, total=209.63s, count=1, min=209633.8ms, max=209633.8ms + sensor_polling: mean=514.0ms, total=154.20s, count=300, min=455.5ms, max=799.7ms + save_trajectories: mean=10.28s, total=10.28s, count=1, min=10283.7ms, max=10283.7ms + physics_step: mean=25.7ms, total=7.72s, count=300, min=18.4ms, max=51.2ms + save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4492.8ms, max=4492.8ms + task_sampling: mean=637.6ms, total=637.6ms, count=1, min=637.6ms, max=637.6ms + task_specific_sample: mean=631.5ms, total=631.5ms, count=1, min=631.5ms, max=631.5ms + scene_randomize: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + mj_forward_sync: mean=699.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:15:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:15:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:15:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:15:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:15:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:15:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:15:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:15:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:15:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:15:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:15:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) +[05/11 01:15:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:15:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:15:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048850m +[05/11 01:15:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:15:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:15:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:15:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75193262 0.83687021 0.04885016] yaw=-162.8deg +[05/11 01:15:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:15:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95815449 0.19397416 0.04885016] yaw=158.6deg +[05/11 01:15:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:15:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91720607 0.88817433 0.04885016] yaw=-153.7deg +[05/11 01:15:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:15:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:15:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms +[05/11 01:15:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.837, 0.049) +[05/11 01:15:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.8 deg +[05/11 01:15:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.014m +[05/11 01:15:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:15:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:15:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:15:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:15:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:15:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 01:15:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.120s +[05/11 01:15:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:15:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:15:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps +[05/11 01:15:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.928s, found feasible grasp: True +[05/11 01:15:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.549[m] 91.122[deg] +[05/11 01:15:31 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:15:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:15:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:15:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:15:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:15:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:15:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:15:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:15:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:15:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:15:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:15:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m) +[05/11 01:15:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:15:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:15:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025732m +[05/11 01:15:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:15:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:15:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:15:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73618945 0.93291535 0.02573235] yaw=-165.9deg +[05/11 01:15:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:15:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7691473 0.16135564 0.02573235] yaw=159.2deg +[05/11 01:15:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:15:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71097551 0.51976124 0.02573235] yaw=-189.0deg +[05/11 01:15:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:15:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:15:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=461.7ms, total=461.7ms +[05/11 01:15:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.933, 0.026) +[05/11 01:15:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg +[05/11 01:15:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.066m +[05/11 01:15:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:15:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:15:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:15:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:15:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:15:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 01:15:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s +[05/11 01:15:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:15:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:15:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps +[05/11 01:15:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.446s, found feasible grasp: True +[05/11 01:15:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 40 (originally 40): w/ 0.639[m] 92.473[deg] +[05/11 01:15:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:15:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:15:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:15:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:15:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:15:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:15:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:15:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:15:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:15:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:15:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:15:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) +[05/11 01:15:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:15:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:15:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076235m +[05/11 01:15:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:15:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:15:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:15:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73021273 0.569782 0.07623487] yaw=-180.0deg +[05/11 01:15:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:15:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96130469 1.23550447 0.07623487] yaw=-131.4deg +[05/11 01:15:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:15:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:15:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.7ms, total=229.7ms +[05/11 01:15:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.570, 0.076) +[05/11 01:15:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.0 deg +[05/11 01:15:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m +[05/11 01:15:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:15:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:15:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:15:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:15:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:15:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 01:15:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s +[05/11 01:15:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:15:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:15:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 01:15:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.748s, found feasible grasp: True +[05/11 01:15:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.567[m] 94.023[deg] +[05/11 01:15:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:16:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:16:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:16:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:18:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True +[05/11 01:19:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:19:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes +[05/11 01:19:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:19:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:19:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:19:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.95s (batch: 4.16s, save: 8.79s) +[05/11 01:19:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.85s: + episode_total: mean=79.14s, total=237.41s, count=3, min=5552.6ms, max=223771.2ms + sensor_polling: mean=514.7ms, total=154.41s, count=300, min=446.0ms, max=913.8ms + save_trajectories: mean=8.79s, total=8.79s, count=1, min=8788.3ms, max=8788.3ms + physics_step: mean=24.2ms, total=7.26s, count=300, min=18.3ms, max=51.7ms + save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.0ms, max=4158.0ms + task_sampling: mean=615.3ms, total=1.85s, count=3, min=489.6ms, max=814.7ms + task_specific_sample: mean=611.8ms, total=1.84s, count=3, min=486.9ms, max=811.1ms + scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.2ms, max=2.8ms + mj_forward_sync: mean=469.4us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=18.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms +[05/11 01:19:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:19:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:19:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:19:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:19:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:19:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:19:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:19:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:19:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:19:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:19:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) +[05/11 01:19:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:19:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:19:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041514m +[05/11 01:19:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:19:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:19:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.20584982 1.09808866 0.0415141 ] yaw=-132.5deg +[05/11 01:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73512581 0.22788235 0.0415141 ] yaw=170.8deg +[05/11 01:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79448476 1.01585712 0.0415141 ] yaw=-139.2deg +[05/11 01:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:19:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:19:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.3ms, total=187.3ms +[05/11 01:19:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.206, 1.098, 0.042) +[05/11 01:19:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg +[05/11 01:19:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.791m +[05/11 01:19:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:19:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:19:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:19:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:19:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:19:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/11 01:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s +[05/11 01:19:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:19:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:19:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps +[05/11 01:19:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True +[05/11 01:19:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.380[m] 87.137[deg] +[05/11 01:19:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:20:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:21:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:21:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:21:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:21:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:21:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:21:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:21:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:21:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps +[05/11 01:21:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.869s, found feasible grasp: True +[05/11 01:21:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.226[deg] +[05/11 01:21:56 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:21:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:21:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:21:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:21:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:21:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:21:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:21:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:21:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:21:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:21:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:21:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) +[05/11 01:21:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:21:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:21:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069261m +[05/11 01:21:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:21:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:21:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:21:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:21:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:21:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:21:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79484152 0.80013879 0.06926129] yaw=-150.8deg +[05/11 01:21:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:21:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77463404 0.21041098 0.06926129] yaw=164.2deg +[05/11 01:21:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:21:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97717551 0.70647165 0.06926129] yaw=-165.9deg +[05/11 01:21:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:21:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:21:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.1ms, total=228.1ms +[05/11 01:21:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.800, 0.069) +[05/11 01:21:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.8 deg +[05/11 01:21:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.962m +[05/11 01:21:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:21:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:21:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:21:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:21:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:21:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 01:21:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s +[05/11 01:21:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:21:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:21:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps +[05/11 01:21:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.713s, found feasible grasp: True +[05/11 01:21:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.565[m] 93.537[deg] +[05/11 01:21:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:22:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:23:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:23:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:24:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True +[05/11 01:25:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:25:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 1/4: 1 episodes +[05/11 01:25:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:25:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:25:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:25:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.98s (batch: 4.98s, save: 9.00s) +[05/11 01:25:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.03s: + episode_total: mean=178.80s, total=357.59s, count=2, min=150629.3ms, max=206964.3ms + sensor_polling: mean=516.8ms, total=279.08s, count=540, min=431.6ms, max=851.4ms + physics_step: mean=24.9ms, total=13.46s, count=540, min=16.2ms, max=61.6ms + save_trajectories: mean=9.00s, total=9.00s, count=1, min=8995.4ms, max=8995.4ms + save_batch_prep: mean=4.98s, total=4.98s, count=1, min=4983.2ms, max=4983.2ms + task_sampling: mean=512.6ms, total=1.03s, count=2, min=485.6ms, max=539.7ms + task_specific_sample: mean=508.6ms, total=1.02s, count=2, min=481.5ms, max=535.8ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms + mj_forward_sync: mean=517.3us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 01:25:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012 +[05/11 01:25:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012 +[05/11 01:25:26 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes +[05/11 01:25:26 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5785.88s + House averages: + episode_total: mean=176.70s, total=3180.64s, count=18, min=2377.2ms, max=245561.7ms + sensor_polling: mean=522.4ms, total=2271.86s, count=4349, min=431.6ms, max=1208.8ms + save_trajectories: mean=9.99s, total=129.90s, count=13, min=8666.5ms, max=12890.2ms + physics_step: mean=25.7ms, total=111.57s, count=4349, min=13.7ms, max=135.0ms + save_batch_prep: mean=4.62s, total=60.09s, count=13, min=4158.0ms, max=5119.9ms + task_sampling: mean=752.3ms, total=13.54s, count=18, min=400.9ms, max=4306.7ms + task_specific_sample: mean=556.3ms, total=10.01s, count=18, min=397.6ms, max=843.5ms + scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms + scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms + scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms + compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms + scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms + compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms + scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms + asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms + compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.2ms, max=4.4ms + asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms + mj_forward_sync: mean=476.1us, total=8.6ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms + policy_setup: mean=22.4us, 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 +[05/11 01:25:26 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 01:25:26 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5785.88s + Worker averages: + episode_total: mean=176.70s, total=3180.64s, count=18, min=2377.2ms, max=245561.7ms + sensor_polling: mean=522.4ms, total=2271.86s, count=4349, min=431.6ms, max=1208.8ms + save_trajectories: mean=9.99s, total=129.90s, count=13, min=8666.5ms, max=12890.2ms + physics_step: mean=25.7ms, total=111.57s, count=4349, min=13.7ms, max=135.0ms + save_batch_prep: mean=4.62s, total=60.09s, count=13, min=4158.0ms, max=5119.9ms + task_sampling: mean=752.3ms, total=13.54s, count=18, min=400.9ms, max=4306.7ms + task_specific_sample: mean=556.3ms, total=10.01s, count=18, min=397.6ms, max=843.5ms + scene_load: mean=3.46s, total=3.46s, count=1, min=3459.6ms, max=3459.6ms + scene_env_create: mean=1.98s, total=1.98s, count=1, min=1982.5ms, max=1982.5ms + scene_compile: mean=1.14s, total=1.14s, count=1, min=1139.0ms, max=1139.0ms + compile_mujoco: mean=876.1ms, total=876.1ms, count=1, min=876.1ms, max=876.1ms + scene_init: mean=248.6ms, total=248.6ms, count=1, min=248.6ms, max=248.6ms + compile_xml_load: mean=181.9ms, total=181.9ms, count=1, min=181.9ms, max=181.9ms + scene_asset_install: mean=89.0ms, total=89.0ms, count=1, min=89.0ms, max=89.0ms + asset_install_grasps: mean=64.6ms, total=64.6ms, count=1, min=64.6ms, max=64.6ms + compile_aux_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + compile_aux_policy_objects: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms + scene_randomize: mean=2.3ms, total=41.3ms, count=18, min=1.2ms, max=4.4ms + asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms + compile_robot_add: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms + mj_forward_sync: mean=476.1us, total=8.6ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms + policy_setup: mean=22.4us, 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 +[05/11 01:25:29 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 01:25:29 INFO pipeline.py:1491] Success count: 13, Total count: 13 +[05/11 01:25:29 INFO pipeline.py:1492] Success rate: 100.00% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_012 +========================================== diff --git a/fridge_7/chunk_012/shard_2_of_4.log b/fridge_7/chunk_012/shard_2_of_4.log index 819f29bd494a55aae78a7a7d687b4e4ffaf76bc3..212f4c7cb3760be9c022698ac2fc43ca62af4fca 100644 --- a/fridge_7/chunk_012/shard_2_of_4.log +++ b/fridge_7/chunk_012/shard_2_of_4.log @@ -1120,3 +1120,612 @@ ValueError: IK failed for pregrasp pose [05/11 01:04:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp [05/11 01:04:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/11 01:04:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:06:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/11 01:07:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:07:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes +[05/11 01:07:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:07:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:07:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:07:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.54s (batch: 4.16s, save: 8.38s) +[05/11 01:07:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s: + episode_total: mean=213.42s, total=213.42s, count=1, min=213417.0ms, max=213417.0ms + sensor_polling: mean=549.4ms, total=164.83s, count=300, min=438.9ms, max=920.5ms + physics_step: mean=28.0ms, total=8.40s, count=300, min=17.4ms, max=135.1ms + save_trajectories: mean=8.38s, total=8.38s, count=1, min=8380.2ms, max=8380.2ms + save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4164.4ms, max=4164.4ms + task_sampling: mean=516.5ms, total=516.5ms, count=1, min=516.5ms, max=516.5ms + task_specific_sample: mean=512.8ms, total=512.8ms, count=1, min=512.8ms, max=512.8ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=425.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:07:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:07:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:07:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:07:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:07:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:07:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:07:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:07:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:07:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:07:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:07:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) +[05/11 01:07:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:07:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:07:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051633m +[05/11 01:07:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:07:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:07:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:07:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:07:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92462928 0.70687248 0.05163345] yaw=-170.7deg +[05/11 01:07:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:07:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90409973 0.89511045 0.05163345] yaw=-145.4deg +[05/11 01:07:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:07:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:07:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7336586 0.59018937 0.05163345] yaw=-176.0deg +[05/11 01:07:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:07:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:07:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.3ms, total=137.3ms +[05/11 01:07:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.707, 0.052) +[05/11 01:07:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.7 deg +[05/11 01:07:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.810m +[05/11 01:07:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:07:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:07:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:07:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:07:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:07:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 01:07:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s +[05/11 01:07:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:07:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:07:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps +[05/11 01:07:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True +[05/11 01:07:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.412[m] 100.816[deg] +[05/11 01:07:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:08:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:08:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:10:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/11 01:10:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:10:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes +[05/11 01:10:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:10:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:10:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:10:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.34s (batch: 4.35s, save: 8.99s) +[05/11 01:10:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s: + episode_total: mean=205.92s, total=205.92s, count=1, min=205924.7ms, max=205924.7ms + sensor_polling: mean=527.3ms, total=158.20s, count=300, min=433.2ms, max=927.0ms + save_trajectories: mean=8.99s, total=8.99s, count=1, min=8986.8ms, max=8986.8ms + physics_step: mean=25.9ms, total=7.78s, count=300, min=16.6ms, max=69.0ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4354.4ms, max=4354.4ms + task_sampling: mean=457.7ms, total=457.7ms, count=1, min=457.7ms, max=457.7ms + task_specific_sample: mean=453.8ms, total=453.8ms, count=1, min=453.8ms, max=453.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=476.2us, 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 +[05/11 01:10:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:10:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:10:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:10:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:10:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:10:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:10:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:10:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:10:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:10:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:10:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) +[05/11 01:10:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:10:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:10:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030932m +[05/11 01:10:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:10:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:10:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:10:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:10:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14725609 1.04957896 0.03093211] yaw=-123.1deg +[05/11 01:10:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:10:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:10:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.933356 1.23562823 0.03093211] yaw=-127.7deg +[05/11 01:10:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:10:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66386339 0.25345216 0.03093211] yaw=170.9deg +[05/11 01:10:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:10:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:10:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.0ms, total=177.0ms +[05/11 01:10:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.147, 1.050, 0.031) +[05/11 01:10:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.1 deg +[05/11 01:10:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.794m +[05/11 01:10:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:10:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:10:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:10:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:10:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:10:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 01:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.125s +[05/11 01:10:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:10:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:10:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.131s, found 88 non-colliding grasps +[05/11 01:10:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.766s, found feasible grasp: True +[05/11 01:10:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.383[m] 95.491[deg] +[05/11 01:10:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:11:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:11:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:11:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:13:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:13:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:13:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:13:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:13:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:13:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps +[05/11 01:13:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.621s, found feasible grasp: True +[05/11 01:13:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.268[deg] +[05/11 01:13:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:13:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:13:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:13:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:13:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:13:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:13:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:13:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:13:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:13:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:13:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:13:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) +[05/11 01:13:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:13:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:13:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083466m +[05/11 01:13:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:13:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:13:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:13:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:13:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79585751 0.82905212 0.0834661 ] yaw=-159.9deg +[05/11 01:13:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:13:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:13:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:13:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9524958 0.89061067 0.0834661 ] yaw=-145.6deg +[05/11 01:13:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:13:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91179361 0.97099895 0.0834661 ] yaw=-149.7deg +[05/11 01:13:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:13:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:13:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.7ms, total=127.7ms +[05/11 01:13:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.829, 0.083) +[05/11 01:13:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg +[05/11 01:13:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.971m +[05/11 01:13:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:13:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:13:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:13:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:13:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:13:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 01:13:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s +[05/11 01:13:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:13:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:13:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 01:13:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.714s, found feasible grasp: True +[05/11 01:13:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.516[m] 77.360[deg] +[05/11 01:13:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:14:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:14:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:15:12 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000 +[05/11 01:15:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:15:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:15:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:15:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.103s, found 84 non-colliding grasps +[05/11 01:15:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.894s, found feasible grasp: True +[05/11 01:15:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.852[deg] +[05/11 01:15:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:15:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:15:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:15:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:15:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:15:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:16:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/11 01:16:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:16:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes +[05/11 01:16:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:17:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:17:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:17:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.70s (batch: 5.00s, save: 9.70s) +[05/11 01:17:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.90s: + episode_total: mean=184.92s, total=369.85s, count=2, min=161238.3ms, max=208611.4ms + sensor_polling: mean=513.3ms, total=293.12s, count=571, min=437.2ms, max=966.3ms + physics_step: mean=26.0ms, total=14.84s, count=571, min=15.7ms, max=134.9ms + save_trajectories: mean=9.70s, total=9.70s, count=1, min=9702.1ms, max=9702.1ms + save_batch_prep: mean=5.00s, total=5.00s, count=1, min=4995.1ms, max=4995.1ms + task_sampling: mean=448.6ms, total=897.1ms, count=2, min=399.4ms, max=497.7ms + task_specific_sample: mean=444.5ms, total=889.0ms, count=2, min=396.2ms, max=492.8ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms + mj_forward_sync: mean=534.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 01:17:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:17:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:17:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:17:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:17:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:17:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:17:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:17:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:17:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:17:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:17:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m) +[05/11 01:17:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:17:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:17:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027580m +[05/11 01:17:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:17:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:17:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:17:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:17:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:17:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:17:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8641577 0.93806892 0.02757969] yaw=-140.6deg +[05/11 01:17:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:17:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:17:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74302662 0.67726413 0.02757969] yaw=-160.3deg +[05/11 01:17:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:17:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81374165 0.40992061 0.02757969] yaw=171.3deg +[05/11 01:17:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:17:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:17:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=337.7ms, total=337.7ms +[05/11 01:17:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.938, 0.028) +[05/11 01:17:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.6 deg +[05/11 01:17:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.954m +[05/11 01:17:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:17:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:17:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:17:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:17:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:17:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 01:17:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s +[05/11 01:17:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:17:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:17:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 01:17:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.965s, found feasible grasp: True +[05/11 01:17:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.530[m] 93.075[deg] +[05/11 01:17:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:18:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:19:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/11 01:20:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:20:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes +[05/11 01:20:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:20:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:20:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:20:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.22s (batch: 4.89s, save: 10.33s) +[05/11 01:20:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.66s: + episode_total: mean=208.07s, total=208.07s, count=1, min=208073.0ms, max=208073.0ms + sensor_polling: mean=511.1ms, total=153.33s, count=300, min=436.8ms, max=984.9ms + save_trajectories: mean=10.33s, total=10.33s, count=1, min=10330.6ms, max=10330.6ms + physics_step: mean=25.1ms, total=7.52s, count=300, min=17.9ms, max=106.7ms + save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4886.6ms, max=4886.6ms + task_sampling: mean=662.3ms, total=662.3ms, count=1, min=662.3ms, max=662.3ms + task_specific_sample: mean=658.6ms, total=658.6ms, count=1, min=658.6ms, max=658.6ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=519.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:20:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:20:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:20:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:20:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:20:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:20:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:20:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:20:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:20:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:20:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:20:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) +[05/11 01:20:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:20:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:20:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008795m +[05/11 01:20:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:20:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:20:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:20:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82776748 0.31146456 0.00879518] yaw=162.1deg +[05/11 01:20:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:20:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86060839 0.47730959 0.00879518] yaw=183.6deg +[05/11 01:20:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:20:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:20:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70898278 0.12555192 0.00879518] yaw=169.5deg +[05/11 01:20:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:20:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:20:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=376.9ms, total=377.0ms +[05/11 01:20:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.828, 0.311, 0.009) +[05/11 01:20:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg +[05/11 01:20:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.891m +[05/11 01:20:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:20:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:20:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:20:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:20:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:20:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 01:20:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.134s +[05/11 01:20:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:20:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:20:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps +[05/11 01:20:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.981s, found feasible grasp: True +[05/11 01:20:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.409[m] 78.876[deg] +[05/11 01:20:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:21:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:21:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:21:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:23:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True +[05/11 01:23:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:23:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes +[05/11 01:23:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:24:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:24:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:24:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 15.75s (batch: 4.97s, save: 10.78s) +[05/11 01:24:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.69s: + episode_total: mean=218.05s, total=218.05s, count=1, min=218046.2ms, max=218046.2ms + sensor_polling: mean=518.7ms, total=155.61s, count=300, min=443.5ms, max=821.3ms + save_trajectories: mean=10.78s, total=10.78s, count=1, min=10779.7ms, max=10779.7ms + physics_step: mean=26.6ms, total=7.98s, count=300, min=18.7ms, max=55.6ms + save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4974.8ms, max=4974.8ms + task_sampling: mean=694.1ms, total=694.1ms, count=1, min=694.1ms, max=694.1ms + task_specific_sample: mean=689.9ms, total=689.9ms, count=1, min=689.9ms, max=689.9ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=505.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:24:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:24:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:24:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:24:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:24:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:24:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:24:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:24:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:24:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:24:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:24:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) +[05/11 01:24:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:24:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:24:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020788m +[05/11 01:24:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:24:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:24:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:24:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:24:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:24:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95672894 0.92231154 0.02078793] yaw=-153.9deg +[05/11 01:24:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:24:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:24:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68725466 0.25258337 0.02078793] yaw=176.4deg +[05/11 01:24:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:24:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77346627 0.90575767 0.02078793] yaw=-163.0deg +[05/11 01:24:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:24:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:24:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=323.8ms, total=323.8ms +[05/11 01:24:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.957, 0.922, 0.021) +[05/11 01:24:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg +[05/11 01:24:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.866m +[05/11 01:24:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:24:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:24:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:24:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:24:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:24:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/11 01:24:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s +[05/11 01:24:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:24:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:24:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 01:24:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.790s, found feasible grasp: True +[05/11 01:24:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.431[m] 86.325[deg] +[05/11 01:24:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:24:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:24:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:25:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:25:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:26:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/11 01:27:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:27:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes +[05/11 01:27:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:27:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:27:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:27:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.00s (batch: 4.13s, save: 9.86s) +[05/11 01:27:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.64s: + episode_total: mean=204.13s, total=204.13s, count=1, min=204125.8ms, max=204125.8ms + sensor_polling: mean=498.0ms, total=149.39s, count=300, min=431.6ms, max=769.0ms + save_trajectories: mean=9.86s, total=9.86s, count=1, min=9863.7ms, max=9863.7ms + physics_step: mean=23.6ms, total=7.08s, count=300, min=14.9ms, max=60.9ms + save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4131.7ms, max=4131.7ms + task_sampling: mean=642.6ms, total=642.6ms, count=1, min=642.6ms, max=642.6ms + task_specific_sample: mean=638.5ms, total=638.5ms, count=1, min=638.5ms, max=638.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=528.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:27:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:27:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:27:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:27:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:27:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:27:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:27:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) +[05/11 01:27:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:27:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:27:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007669m +[05/11 01:27:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:27:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:27:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74168338 0.36468161 0.00766889] yaw=163.4deg +[05/11 01:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70008901 0.5505019 0.00766889] yaw=-171.7deg +[05/11 01:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01510742 1.09344213 0.00766889] yaw=-135.9deg +[05/11 01:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:27:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:27:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=291.0ms, total=291.0ms +[05/11 01:27:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.742, 0.365, 0.008) +[05/11 01:27:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.4 deg +[05/11 01:27:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.968m +[05/11 01:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:27:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:27:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 01:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s +[05/11 01:27:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:27:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:27:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps +[05/11 01:27:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.678s, found feasible grasp: True +[05/11 01:27:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.499[m] 88.368[deg] +[05/11 01:27:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:28:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:28:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:30:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True +[05/11 01:30:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:30:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 2/4: 1 episodes +[05/11 01:30:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:30:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:30:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:30:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.83s (batch: 4.22s, save: 8.61s) +[05/11 01:30:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.59s: + episode_total: mean=195.20s, total=195.20s, count=1, min=195200.5ms, max=195200.5ms + sensor_polling: mean=471.1ms, total=141.34s, count=300, min=419.6ms, max=726.3ms + save_trajectories: mean=8.61s, total=8.61s, count=1, min=8608.4ms, max=8608.4ms + physics_step: mean=23.5ms, total=7.04s, count=300, min=14.3ms, max=58.4ms + save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4219.8ms, max=4219.8ms + task_sampling: mean=591.2ms, total=591.2ms, count=1, min=591.2ms, max=591.2ms + task_specific_sample: mean=586.9ms, total=586.9ms, count=1, min=586.9ms, max=586.9ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=501.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:31:00 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012 +[05/11 01:31:00 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012 +[05/11 01:31:00 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/14 successful episodes +[05/11 01:31:00 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=6467.05s + House averages: + episode_total: mean=195.16s, total=3512.89s, count=18, min=8707.6ms, max=252989.3ms + sensor_polling: mean=518.0ms, total=2587.73s, count=4996, min=419.6ms, max=1059.9ms + save_trajectories: mean=9.89s, total=138.51s, count=14, min=8380.2ms, max=11451.4ms + physics_step: mean=26.0ms, total=129.83s, count=4996, min=14.3ms, max=135.1ms + save_batch_prep: mean=4.62s, total=64.64s, count=14, min=4009.6ms, max=5300.5ms + task_sampling: mean=774.7ms, total=13.95s, count=18, min=398.7ms, max=4368.9ms + task_specific_sample: mean=553.0ms, total=9.95s, count=18, min=393.2ms, max=1096.9ms + scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms + scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms + scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms + compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms + compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms + scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms + compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + scene_randomize: mean=2.3ms, total=42.1ms, count=18, min=1.1ms, max=3.5ms + scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms + asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms + compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms + mj_forward_sync: mean=498.6us, total=9.0ms, count=18, min=0.4ms, max=0.7ms + asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 01:31:00 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 01:31:00 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6467.05s + Worker averages: + episode_total: mean=195.16s, total=3512.89s, count=18, min=8707.6ms, max=252989.3ms + sensor_polling: mean=518.0ms, total=2587.73s, count=4996, min=419.6ms, max=1059.9ms + save_trajectories: mean=9.89s, total=138.51s, count=14, min=8380.2ms, max=11451.4ms + physics_step: mean=26.0ms, total=129.83s, count=4996, min=14.3ms, max=135.1ms + save_batch_prep: mean=4.62s, total=64.64s, count=14, min=4009.6ms, max=5300.5ms + task_sampling: mean=774.7ms, total=13.95s, count=18, min=398.7ms, max=4368.9ms + task_specific_sample: mean=553.0ms, total=9.95s, count=18, min=393.2ms, max=1096.9ms + scene_load: mean=3.91s, total=3.91s, count=1, min=3910.4ms, max=3910.4ms + scene_env_create: mean=2.19s, total=2.19s, count=1, min=2185.6ms, max=2185.6ms + scene_compile: mean=1.61s, total=1.61s, count=1, min=1611.1ms, max=1611.1ms + compile_xml_load: mean=805.6ms, total=805.6ms, count=1, min=805.6ms, max=805.6ms + compile_mujoco: mean=726.5ms, total=726.5ms, count=1, min=726.5ms, max=726.5ms + scene_init: mean=72.7ms, total=72.7ms, count=1, min=72.7ms, max=72.7ms + compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms + scene_randomize: mean=2.3ms, total=42.1ms, count=18, min=1.1ms, max=3.5ms + scene_asset_install: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms + asset_install_grasps: mean=28.8ms, total=28.8ms, count=1, min=28.8ms, max=28.8ms + compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms + mj_forward_sync: mean=498.6us, total=9.0ms, count=18, min=0.4ms, max=0.7ms + asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 01:31:03 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 01:31:03 INFO pipeline.py:1491] Success count: 14, Total count: 14 +[05/11 01:31:03 INFO pipeline.py:1492] Success rate: 100.00% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_012 +========================================== diff --git a/fridge_7/chunk_012/shard_3_of_4.log b/fridge_7/chunk_012/shard_3_of_4.log index 1593c4cd1cbd9441c075e68fd6de93930e4f8c3f..4e991e946c1773b86cd1a110859fba34277ed515 100644 --- a/fridge_7/chunk_012/shard_3_of_4.log +++ b/fridge_7/chunk_012/shard_3_of_4.log @@ -1076,3 +1076,643 @@ ValueError: IK failed for pregrasp pose [05/11 01:04:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/11 01:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift [05/11 01:06:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/11 01:06:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:06:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes +[05/11 01:06:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 282 timesteps +[05/11 01:06:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:06:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:06:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.78s (batch: 4.87s, save: 7.91s) +[05/11 01:06:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.43s: + episode_total: mean=205.37s, total=205.37s, count=1, min=205365.9ms, max=205365.9ms + sensor_polling: mean=546.4ms, total=153.54s, count=281, min=460.6ms, max=955.3ms + physics_step: mean=28.6ms, total=8.03s, count=281, min=17.1ms, max=95.6ms + save_trajectories: mean=7.91s, total=7.91s, count=1, min=7911.5ms, max=7911.5ms + save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4867.0ms, max=4867.0ms + task_sampling: mean=427.1ms, total=427.1ms, count=1, min=427.1ms, max=427.1ms + task_specific_sample: mean=423.3ms, total=423.3ms, count=1, min=423.3ms, max=423.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=399.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:06:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:06:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:06:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:06:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:06:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:06:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:06:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:06:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:06:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:06:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:06:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) +[05/11 01:06:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:06:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:06:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085186m +[05/11 01:06:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:06:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:06:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:06:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:06:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:06:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:06:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:06:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:06:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.14437849 1.06312684 0.08518589] yaw=-140.0deg +[05/11 01:06:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:06:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86505017 0.69693549 0.08518589] yaw=-164.7deg +[05/11 01:06:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:06:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.09350318 1.07438658 0.08518589] yaw=-147.0deg +[05/11 01:06:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:06:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:06:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.9ms, total=180.9ms +[05/11 01:06:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.063, 0.085) +[05/11 01:06:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg +[05/11 01:06:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.806m +[05/11 01:06:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:06:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:06:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:06:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:06:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:06:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 01:06:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s +[05/11 01:06:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:06:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:06:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 01:06:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.593s, found feasible grasp: True +[05/11 01:06:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.377[m] 86.064[deg] +[05/11 01:06:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:06:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:06:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:07:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:07:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:07:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:09:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:09:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:09:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:09:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:09:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:09:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:09:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:09:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:09:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:09:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:09:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps +[05/11 01:09:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.741s, found feasible grasp: True +[05/11 01:09:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.193[deg] +[05/11 01:09:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:09:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:09:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:09:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:09:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:09:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:09:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:09:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:09:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:09:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:09:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:09:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) +[05/11 01:09:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:09:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:09:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024336m +[05/11 01:09:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:09:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:09:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:09:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:09:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:09:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.19326899 1.05713592 0.02433585] yaw=-132.4deg +[05/11 01:09:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:09:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:09:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:09:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00016054 0.15123706 0.02433585] yaw=144.1deg +[05/11 01:09:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:09:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92755703 0.27811194 0.02433585] yaw=166.9deg +[05/11 01:09:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:09:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:09:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=393.8ms, total=393.9ms +[05/11 01:09:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.193, 1.057, 0.024) +[05/11 01:09:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.4 deg +[05/11 01:09:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.768m +[05/11 01:09:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:09:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:09:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:09:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:09:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:09:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 01:09:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s +[05/11 01:09:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:09:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:09:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps +[05/11 01:09:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True +[05/11 01:09:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.354[m] 95.899[deg] +[05/11 01:09:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:09:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:09:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:10:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:10:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:10:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:11:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:11:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:11:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:11:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:11:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:11:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:11:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:12:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:12:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:12:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:12:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:12:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:12:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps +[05/11 01:12:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.724s, found feasible grasp: True +[05/11 01:12:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.300[deg] +[05/11 01:12:04 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:12:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:12:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:12:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:12:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:12:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:12:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:12:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:12:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:12:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:12:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:12:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) +[05/11 01:12:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:12:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:12:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037888m +[05/11 01:12:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:12:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:12:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:12:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66350002 0.67970398 0.03788772] yaw=-160.4deg +[05/11 01:12:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:12:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:12:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:12:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:12:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:12:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93581982 1.08023455 0.03788772] yaw=-131.4deg +[05/11 01:12:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:12:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61972077 0.62236317 0.03788772] yaw=-183.6deg +[05/11 01:12:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:12:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:12:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms +[05/11 01:12:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.664, 0.680, 0.038) +[05/11 01:12:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg +[05/11 01:12:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m +[05/11 01:12:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:12:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:12:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:12:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:12:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:12:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 01:12:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s +[05/11 01:12:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:12:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:12:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 01:12:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.939s, found feasible grasp: True +[05/11 01:12:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.622[m] 88.433[deg] +[05/11 01:12:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:12:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:12:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:13:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:14:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/11 01:15:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:15:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes +[05/11 01:15:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:15:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:15:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:15:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.74s (batch: 4.60s, save: 10.14s) +[05/11 01:15:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.69s: + episode_total: mean=172.89s, total=518.68s, count=3, min=152793.3ms, max=208263.3ms + sensor_polling: mean=505.3ms, total=408.77s, count=809, min=436.0ms, max=941.6ms + physics_step: mean=24.4ms, total=19.72s, count=809, min=14.9ms, max=93.3ms + save_trajectories: mean=10.14s, total=10.14s, count=1, min=10142.8ms, max=10142.8ms + save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4600.1ms, max=4600.1ms + task_sampling: mean=562.4ms, total=1.69s, count=3, min=473.8ms, max=683.0ms + task_specific_sample: mean=558.7ms, total=1.68s, count=3, min=470.1ms, max=679.8ms + scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.3ms, max=2.5ms + mj_forward_sync: mean=430.4us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=16.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms +[05/11 01:15:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:15:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:15:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:15:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:15:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:15:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:15:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:15:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:15:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:15:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:15:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m) +[05/11 01:15:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:15:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:15:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047011m +[05/11 01:15:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:15:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:15:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8170683 1.09731259 0.04701104] yaw=-141.8deg +[05/11 01:15:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:15:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:15:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93503871 1.06264163 0.04701104] yaw=-148.0deg +[05/11 01:15:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:15:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81882568 0.31903686 0.04701104] yaw=166.2deg +[05/11 01:15:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:15:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:15:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=240.0ms, total=240.1ms +[05/11 01:15:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.817, 1.097, 0.047) +[05/11 01:15:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.8 deg +[05/11 01:15:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.078m +[05/11 01:15:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:15:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:15:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:15:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:15:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:15:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 01:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s +[05/11 01:15:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:15:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:15:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:15:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.332s, found feasible grasp: True +[05/11 01:15:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.712[m] 99.992[deg] +[05/11 01:15:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:15:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:15:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:16:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:17:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:17:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:18:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/11 01:18:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:18:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes +[05/11 01:18:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:19:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:19:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:19:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.26s (batch: 4.86s, save: 9.40s) +[05/11 01:19:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.56s: + episode_total: mean=210.22s, total=210.22s, count=1, min=210221.3ms, max=210221.3ms + sensor_polling: mean=513.6ms, total=154.09s, count=300, min=440.3ms, max=996.7ms + save_trajectories: mean=9.40s, total=9.40s, count=1, min=9400.9ms, max=9400.9ms + physics_step: mean=24.0ms, total=7.20s, count=300, min=14.7ms, max=91.6ms + save_batch_prep: mean=4.86s, total=4.86s, count=1, min=4857.8ms, max=4857.8ms + task_sampling: mean=555.6ms, total=555.6ms, count=1, min=555.6ms, max=555.6ms + task_specific_sample: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=412.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:19:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:19:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:19:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:19:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:19:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:19:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:19:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:19:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:19:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:19:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) +[05/11 01:19:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:19:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:19:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019149m +[05/11 01:19:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:19:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:19:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:19:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:19:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05237895 1.01868004 0.01914921] yaw=-137.5deg +[05/11 01:19:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:19:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70781492 0.11485943 0.01914921] yaw=168.6deg +[05/11 01:19:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:19:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65081496 0.20178327 0.01914921] yaw=170.6deg +[05/11 01:19:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:19:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:19:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.9ms, total=94.9ms +[05/11 01:19:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.052, 1.019, 0.019) +[05/11 01:19:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg +[05/11 01:19:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.843m +[05/11 01:19:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:19:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:19:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:19:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:19:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 01:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s +[05/11 01:19:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:19:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:19:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:19:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True +[05/11 01:19:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.418[m] 87.757[deg] +[05/11 01:19:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:19:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:19:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:20:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:21:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:21:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:21:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:21:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:22:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:22:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:22:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps +[05/11 01:22:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.995s, found feasible grasp: True +[05/11 01:22:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.285[deg] +[05/11 01:22:05 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:22:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:22:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:22:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:22:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:22:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:22:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:22:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:22:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:22:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:22:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:22:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) +[05/11 01:22:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:22:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:22:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076680m +[05/11 01:22:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:22:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:22:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:22:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92314954 1.10485947 0.0766802 ] yaw=-134.8deg +[05/11 01:22:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:22:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:22:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:22:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63024405 0.66377445 0.0766802 ] yaw=-171.4deg +[05/11 01:22:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:22:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 132.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:22:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67610444 0.34624319 0.0766802 ] yaw=172.6deg +[05/11 01:22:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:22:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:22:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=315.5ms, total=315.6ms +[05/11 01:22:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.923, 1.105, 0.077) +[05/11 01:22:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.8 deg +[05/11 01:22:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.998m +[05/11 01:22:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:22:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:22:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:22:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:22:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:22:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/11 01:22:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s +[05/11 01:22:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:22:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:22:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps +[05/11 01:22:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.946s, found feasible grasp: True +[05/11 01:22:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.613[m] 91.726[deg] +[05/11 01:22:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:22:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:22:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:23:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:24:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/11 01:25:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:25:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 3/4: 1 episodes +[05/11 01:25:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:25:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:25:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:25:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.63s (batch: 4.40s, save: 8.23s) +[05/11 01:25:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.98s: + episode_total: mean=192.17s, total=384.34s, count=2, min=176410.1ms, max=207930.6ms + sensor_polling: mean=514.2ms, total=302.85s, count=589, min=440.6ms, max=857.7ms + physics_step: mean=24.4ms, total=14.35s, count=589, min=14.7ms, max=75.6ms + save_trajectories: mean=8.23s, total=8.23s, count=1, min=8227.5ms, max=8227.5ms + save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4401.0ms, max=4401.0ms + task_sampling: mean=491.8ms, total=983.7ms, count=2, min=403.5ms, max=580.2ms + task_specific_sample: mean=488.1ms, total=976.1ms, count=2, min=399.6ms, max=576.5ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.6ms + mj_forward_sync: mean=483.5us, total=1.0ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=16.9us, 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 +[05/11 01:25:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:25:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:25:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:25:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:25:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:25:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:25:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:25:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:25:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:25:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:25:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) +[05/11 01:25:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:25:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:25:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078737m +[05/11 01:25:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:25:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:25:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:25:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:25:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:25:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:25:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:25:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:25:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90937513 1.22019679 0.07873666] yaw=-142.7deg +[05/11 01:25:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:25:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:25:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=166.6ms, total=166.6ms +[05/11 01:25:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.909, 1.220, 0.079) +[05/11 01:25:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg +[05/11 01:25:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m +[05/11 01:25:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:25:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:25:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:25:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:25:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:25:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 01:25:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s +[05/11 01:25:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:25:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:25:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps +[05/11 01:25:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.605s, found feasible grasp: False +[05/11 01:25:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: No feasible grasp found +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses + grasp_pose_world = compute_grasp_pose( + ^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose + raise ValueError("No feasible grasp found") +ValueError: No feasible grasp found +[05/11 01:25:40 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012 +[05/11 01:25:40 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012 +[05/11 01:25:40 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/11 successful episodes +[05/11 01:25:40 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5896.49s + House averages: + episode_total: mean=177.43s, total=3193.71s, count=18, min=2239.1ms, max=222819.1ms + sensor_polling: mean=517.1ms, total=2394.90s, count=4631, min=427.7ms, max=1043.5ms + physics_step: mean=25.0ms, total=115.74s, count=4631, min=14.0ms, max=128.7ms + save_trajectories: mean=9.84s, total=108.25s, count=11, min=7911.5ms, max=11539.1ms + save_batch_prep: mean=4.60s, total=50.64s, count=11, min=4213.1ms, max=4867.0ms + task_sampling: mean=782.5ms, total=14.08s, count=18, min=403.5ms, max=4530.2ms + task_specific_sample: mean=566.0ms, total=10.19s, count=18, min=399.6ms, max=802.8ms + scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms + scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms + scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms + compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms + compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms + scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms + scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms + asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms + compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + scene_randomize: mean=2.4ms, total=42.5ms, count=18, min=1.1ms, max=3.8ms + asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms + compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms + mj_forward_sync: mean=495.3us, total=8.9ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=21.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 01:25:40 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 01:25:40 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5896.49s + Worker averages: + episode_total: mean=177.43s, total=3193.71s, count=18, min=2239.1ms, max=222819.1ms + sensor_polling: mean=517.1ms, total=2394.90s, count=4631, min=427.7ms, max=1043.5ms + physics_step: mean=25.0ms, total=115.74s, count=4631, min=14.0ms, max=128.7ms + save_trajectories: mean=9.84s, total=108.25s, count=11, min=7911.5ms, max=11539.1ms + save_batch_prep: mean=4.60s, total=50.64s, count=11, min=4213.1ms, max=4867.0ms + task_sampling: mean=782.5ms, total=14.08s, count=18, min=403.5ms, max=4530.2ms + task_specific_sample: mean=566.0ms, total=10.19s, count=18, min=399.6ms, max=802.8ms + scene_load: mean=3.82s, total=3.82s, count=1, min=3821.4ms, max=3821.4ms + scene_env_create: mean=2.51s, total=2.51s, count=1, min=2510.5ms, max=2510.5ms + scene_compile: mean=1.17s, total=1.17s, count=1, min=1170.1ms, max=1170.1ms + compile_mujoco: mean=734.1ms, total=734.1ms, count=1, min=734.1ms, max=734.1ms + compile_xml_load: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms + scene_asset_install: mean=80.4ms, total=80.4ms, count=1, min=80.4ms, max=80.4ms + scene_init: mean=60.1ms, total=60.1ms, count=1, min=60.1ms, max=60.1ms + asset_install_grasps: mean=50.6ms, total=50.6ms, count=1, min=50.6ms, max=50.6ms + compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + scene_randomize: mean=2.4ms, total=42.5ms, count=18, min=1.1ms, max=3.8ms + asset_install_objects: mean=26.2ms, total=26.2ms, count=1, min=26.2ms, max=26.2ms + compile_robot_add: mean=23.9ms, total=23.9ms, count=1, min=23.9ms, max=23.9ms + mj_forward_sync: mean=495.3us, total=8.9ms, count=18, min=0.4ms, max=0.7ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=21.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 01:25:43 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 01:25:43 INFO pipeline.py:1491] Success count: 11, Total count: 11 +[05/11 01:25:43 INFO pipeline.py:1492] Success rate: 100.00% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_012 +========================================== diff --git a/fridge_7/chunk_012/shard_4_of_4.log b/fridge_7/chunk_012/shard_4_of_4.log index 622d3ee1b047afbad601103ea0945dc536bdf5f0..06d7b7d66f748b26e2e00ebfb1295d65a6ec2a9a 100644 --- a/fridge_7/chunk_012/shard_4_of_4.log +++ b/fridge_7/chunk_012/shard_4_of_4.log @@ -1146,3 +1146,660 @@ ValueError: IK failed for pregrasp pose [05/11 01:05:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp [05/11 01:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/11 01:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:07:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/11 01:08:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:08:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes +[05/11 01:08:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 292 timesteps +[05/11 01:08:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:08:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:08:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 13.55s (batch: 4.26s, save: 9.29s) +[05/11 01:08:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.57s: + episode_total: mean=211.05s, total=211.05s, count=1, min=211050.1ms, max=211050.1ms + sensor_polling: mean=535.8ms, total=155.93s, count=291, min=443.8ms, max=890.7ms + save_trajectories: mean=9.29s, total=9.29s, count=1, min=9287.0ms, max=9287.0ms + physics_step: mean=26.3ms, total=7.64s, count=291, min=18.4ms, max=130.2ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4263.8ms, max=4263.8ms + task_sampling: mean=566.7ms, total=566.7ms, count=1, min=566.7ms, max=566.7ms + task_specific_sample: mean=562.0ms, total=562.0ms, count=1, min=562.0ms, max=562.0ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=546.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:08:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:08:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:08:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:08:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:08:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:08:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:08:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:08:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:08:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:08:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:08:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m) +[05/11 01:08:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:08:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:08:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069999m +[05/11 01:08:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:08:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:08:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:08:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:08:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96962827 1.13930153 0.06999854] yaw=-130.4deg +[05/11 01:08:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:08:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:08:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:08:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84403357 0.2248159 0.06999854] yaw=166.3deg +[05/11 01:08:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:08:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92898542 0.75883318 0.06999854] yaw=-171.5deg +[05/11 01:08:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:08:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:08:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=622.1ms, total=622.1ms +[05/11 01:08:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.970, 1.139, 0.070) +[05/11 01:08:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg +[05/11 01:08:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.984m +[05/11 01:08:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:08:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:08:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:08:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:08:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:08:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 01:08:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.151s +[05/11 01:08:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:08:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:08:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps +[05/11 01:08:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.733s, found feasible grasp: True +[05/11 01:08:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.594[m] 93.706[deg] +[05/11 01:08:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:09:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:10:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:10:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:11:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:11:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:11:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:11:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:11:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:11:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:11:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:11:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps +[05/11 01:11:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.731s, found feasible grasp: True +[05/11 01:11:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.218[deg] +[05/11 01:11:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:11:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:11:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:11:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:11:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:11:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:11:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:11:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:11:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:11:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:11:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:11:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) +[05/11 01:11:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:11:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:11:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096305m +[05/11 01:11:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:11:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:11:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:11:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 129.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:11:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07556008 1.02621619 0.0963047 ] yaw=-148.5deg +[05/11 01:11:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:11:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:11:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:11:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:11:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93203563 0.69690118 0.0963047 ] yaw=-165.6deg +[05/11 01:11:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:11:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90133029 0.44901761 0.0963047 ] yaw=171.1deg +[05/11 01:11:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:11:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:11:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=270.6ms, total=270.6ms +[05/11 01:11:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.076, 1.026, 0.096) +[05/11 01:11:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.5 deg +[05/11 01:11:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.830m +[05/11 01:11:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:11:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:11:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:11:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:11:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:11:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 01:11:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s +[05/11 01:11:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:11:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:11:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps +[05/11 01:11:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.232s, found feasible grasp: True +[05/11 01:11:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.445[m] 93.914[deg] +[05/11 01:11:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:12:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:12:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:12:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:14:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:14:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:14:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:14:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:14:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:14:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:14:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:14:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:14:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps +[05/11 01:14:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.818s, found feasible grasp: True +[05/11 01:14:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.264[deg] +[05/11 01:14:33 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:14:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:14:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:14:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:14:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:14:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:14:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:14:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:14:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:14:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:14:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:14:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) +[05/11 01:14:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:14:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:14:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034307m +[05/11 01:14:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:14:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:14:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:14:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:14:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84303402 0.62519028 0.03430668] yaw=-179.6deg +[05/11 01:14:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:14:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:14:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:14:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:14:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73489129 0.79333864 0.03430668] yaw=-172.4deg +[05/11 01:14:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:14:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91440587 0.54954698 0.03430668] yaw=-177.1deg +[05/11 01:14:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:14:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:14:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=475.7ms, total=475.7ms +[05/11 01:14:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.625, 0.034) +[05/11 01:14:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.6 deg +[05/11 01:14:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.871m +[05/11 01:14:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:14:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:14:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:14:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:14:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:14:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 01:14:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.059s +[05/11 01:14:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:14:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:14:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:14:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True +[05/11 01:14:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.474[m] 99.993[deg] +[05/11 01:14:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:14:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:14:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:15:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:15:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:15:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:17:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/11 01:17:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:17:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes +[05/11 01:17:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:18:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:18:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:18:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.95s (batch: 4.74s, save: 10.22s) +[05/11 01:18:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=2.25s: + episode_total: mean=189.62s, total=568.87s, count=3, min=175689.7ms, max=216762.6ms + sensor_polling: mean=515.9ms, total=451.44s, count=875, min=434.7ms, max=963.9ms + physics_step: mean=24.3ms, total=21.25s, count=875, min=17.3ms, max=72.3ms + save_trajectories: mean=10.22s, total=10.22s, count=1, min=10216.0ms, max=10216.0ms + save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4737.7ms, max=4737.7ms + task_sampling: mean=751.6ms, total=2.25s, count=3, min=528.7ms, max=982.7ms + task_specific_sample: mean=746.4ms, total=2.24s, count=3, min=525.7ms, max=974.4ms + scene_randomize: mean=3.2ms, total=9.6ms, count=3, min=1.3ms, max=6.8ms + mj_forward_sync: mean=504.7us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=19.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms +[05/11 01:18:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:18:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:18:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:18:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:18:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:18:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:18:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:18:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:18:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:18:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:18:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) +[05/11 01:18:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:18:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:18:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049791m +[05/11 01:18:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:18:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:18:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:18:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:18:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97874704 0.15561878 0.04979086] yaw=158.5deg +[05/11 01:18:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:18:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:18:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93230919 0.08012078 0.04979086] yaw=145.9deg +[05/11 01:18:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:18:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:18:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90899298 0.37382178 0.04979086] yaw=170.8deg +[05/11 01:18:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:18:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:18:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms +[05/11 01:18:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.979, 0.156, 0.050) +[05/11 01:18:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg +[05/11 01:18:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.794m +[05/11 01:18:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:18:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:18:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:18:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:18:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:18:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 01:18:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/11 01:18:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:18:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:18:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps +[05/11 01:18:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.687s, found feasible grasp: True +[05/11 01:18:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.390[m] 91.844[deg] +[05/11 01:18:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:18:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:19:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:20:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:20:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:20:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:20:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:20:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:20:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:20:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:20:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps +[05/11 01:20:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.454s, found feasible grasp: True +[05/11 01:20:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.093[deg] +[05/11 01:20:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:20:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:20:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:20:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:20:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:20:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:20:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:20:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:20:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) +[05/11 01:20:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:20:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:20:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018823m +[05/11 01:20:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:20:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:20:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03448841 1.23831279 0.01882287] yaw=-141.1deg +[05/11 01:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64787606 0.27231223 0.01882287] yaw=171.3deg +[05/11 01:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:20:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83751008 0.73580633 0.01882287] yaw=-164.5deg +[05/11 01:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:20:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:20:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.7ms, total=245.8ms +[05/11 01:20:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.034, 1.238, 0.019) +[05/11 01:20:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg +[05/11 01:20:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.009m +[05/11 01:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:20:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:20:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:20:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 01:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s +[05/11 01:20:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:20:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:20:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps +[05/11 01:20:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.694s, found feasible grasp: True +[05/11 01:20:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.612[m] 87.297[deg] +[05/11 01:20:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:20:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:20:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:20:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:20:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:20:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:20:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:20:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:20:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:20:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:20:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:20:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) +[05/11 01:20:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:20:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:20:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010281m +[05/11 01:20:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:20:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:20:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:20:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.882288 1.01623007 0.01028124] yaw=-153.7deg +[05/11 01:20:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:20:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85910866 0.27574051 0.01028124] yaw=173.2deg +[05/11 01:20:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:20:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65477632 0.23826548 0.01028124] yaw=157.9deg +[05/11 01:20:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:20:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:20:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.4ms, total=199.4ms +[05/11 01:20:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.882, 1.016, 0.010) +[05/11 01:20:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg +[05/11 01:20:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.979m +[05/11 01:20:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:20:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:20:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:20:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:20:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:20:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/11 01:20:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s +[05/11 01:20:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:20:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:20:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps +[05/11 01:20:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 8.762s, found feasible grasp: True +[05/11 01:20:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.531[m] 86.039[deg] +[05/11 01:20:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:21:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:21:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:21:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:23:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:23:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:23:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:23:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:23:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:23:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:23:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:23:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps +[05/11 01:23:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.702s, found feasible grasp: True +[05/11 01:23:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.643[deg] +[05/11 01:23:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:23:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/11 01:23:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:23:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes +[05/11 01:23:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:24:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:24:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:24:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 14.36s (batch: 3.93s, save: 10.44s) +[05/11 01:24:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=1.44s: + episode_total: mean=117.84s, total=353.53s, count=3, min=3500.8ms, max=226852.3ms + sensor_polling: mean=518.1ms, total=253.33s, count=489, min=442.1ms, max=868.0ms + physics_step: mean=23.7ms, total=11.61s, count=489, min=14.5ms, max=59.2ms + save_trajectories: mean=10.44s, total=10.44s, count=1, min=10435.0ms, max=10435.0ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3928.6ms, max=3928.6ms + task_sampling: mean=480.5ms, total=1.44s, count=3, min=430.6ms, max=528.7ms + task_specific_sample: mean=476.4ms, total=1.43s, count=3, min=426.2ms, max=525.4ms + scene_randomize: mean=2.1ms, total=6.2ms, count=3, min=1.3ms, max=2.8ms + mj_forward_sync: mean=481.3us, total=1.4ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=17.9us, 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 +[05/11 01:24:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:24:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:24:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:24:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:24:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:24:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:24:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:24:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:24:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:24:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:24:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m) +[05/11 01:24:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:24:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:24:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061125m +[05/11 01:24:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:24:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:24:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:24:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:24:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7052415 0.65116065 0.06112526] yaw=-160.6deg +[05/11 01:24:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:24:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.02381396 1.25283957 0.06112526] yaw=-126.3deg +[05/11 01:24:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:24:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:24:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.3ms +[05/11 01:24:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.651, 0.061) +[05/11 01:24:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.6 deg +[05/11 01:24:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.011m +[05/11 01:24:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:24:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:24:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:24:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:24:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:24:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 01:24:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.107s +[05/11 01:24:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:24:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:24:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps +[05/11 01:24:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True +[05/11 01:24:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.556[m] 85.137[deg] +[05/11 01:24:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:24:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:24:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:25:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:25:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:26:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True +[05/11 01:27:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:27:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_012 batch 4/4: 1 episodes +[05/11 01:27:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:27:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:27:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_012 +[05/11 01:27:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_012 in 12.03s (batch: 4.09s, save: 7.94s) +[05/11 01:27:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.52s: + episode_total: mean=200.88s, total=200.88s, count=1, min=200875.7ms, max=200875.7ms + sensor_polling: mean=504.6ms, total=151.39s, count=300, min=443.2ms, max=1158.1ms + save_trajectories: mean=7.94s, total=7.94s, count=1, min=7941.1ms, max=7941.1ms + physics_step: mean=22.1ms, total=6.63s, count=300, min=17.5ms, max=35.3ms + save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4087.0ms, max=4087.0ms + task_sampling: mean=517.6ms, total=517.6ms, count=1, min=517.6ms, max=517.6ms + task_specific_sample: mean=512.8ms, total=512.8ms, count=1, min=512.8ms, max=512.8ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=667.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:27:35 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012 +[05/11 01:27:35 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_012 +[05/11 01:27:35 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/12 successful episodes +[05/11 01:27:35 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=6095.32s + House averages: + episode_total: mean=183.74s, total=3307.36s, count=18, min=3500.8ms, max=261529.0ms + sensor_polling: mean=524.6ms, total=2461.99s, count=4693, min=434.7ms, max=1158.1ms + save_trajectories: mean=9.83s, total=117.91s, count=12, min=7941.1ms, max=11722.2ms + physics_step: mean=25.1ms, total=117.83s, count=4693, min=14.5ms, max=132.9ms + save_batch_prep: mean=4.52s, total=54.21s, count=12, min=3928.6ms, max=5214.6ms + task_sampling: mean=872.3ms, total=15.70s, count=18, min=430.6ms, max=4555.0ms + task_specific_sample: mean=672.8ms, total=12.11s, count=18, min=426.2ms, max=1039.6ms + scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms + scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms + scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms + compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms + compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms + scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms + compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms + compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms + scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms + asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms + scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.1ms, max=6.8ms + asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms + compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms + mj_forward_sync: mean=523.8us, total=9.4ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms + policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 01:27:35 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 01:27:35 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=6095.32s + Worker averages: + episode_total: mean=183.74s, total=3307.36s, count=18, min=3500.8ms, max=261529.0ms + sensor_polling: mean=524.6ms, total=2461.99s, count=4693, min=434.7ms, max=1158.1ms + save_trajectories: mean=9.83s, total=117.91s, count=12, min=7941.1ms, max=11722.2ms + physics_step: mean=25.1ms, total=117.83s, count=4693, min=14.5ms, max=132.9ms + save_batch_prep: mean=4.52s, total=54.21s, count=12, min=3928.6ms, max=5214.6ms + task_sampling: mean=872.3ms, total=15.70s, count=18, min=430.6ms, max=4555.0ms + task_specific_sample: mean=672.8ms, total=12.11s, count=18, min=426.2ms, max=1039.6ms + scene_load: mean=3.51s, total=3.51s, count=1, min=3512.6ms, max=3512.6ms + scene_env_create: mean=2.39s, total=2.39s, count=1, min=2392.0ms, max=2392.0ms + scene_compile: mean=986.1ms, total=986.1ms, count=1, min=986.1ms, max=986.1ms + compile_mujoco: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms + compile_xml_load: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms + scene_asset_install: mean=75.3ms, total=75.3ms, count=1, min=75.3ms, max=75.3ms + compile_aux_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms + compile_aux_policy_objects: mean=70.7ms, total=70.7ms, count=1, min=70.7ms, max=70.7ms + scene_init: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms + asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms + scene_randomize: mean=2.6ms, total=47.3ms, count=18, min=1.1ms, max=6.8ms + asset_install_objects: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms + compile_robot_add: mean=12.9ms, total=12.9ms, count=1, min=12.9ms, max=12.9ms + mj_forward_sync: mean=523.8us, total=9.4ms, count=18, min=0.4ms, max=0.9ms + asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms + policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 01:27:38 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 01:27:38 INFO pipeline.py:1491] Success count: 12, Total count: 12 +[05/11 01:27:38 INFO pipeline.py:1492] Success rate: 100.00% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. 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'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_7', + 'seed': 21301, + '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 01:31:28 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 01:31:28 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 01:31:28 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 01:31:28 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 01:31:28 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 01:31:28 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 01:31:28 INFO: {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_7', + 'seed': 21303, + '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 01:31:28 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 01:31:28 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 01:31:28 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 01:31:28 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 01:31:29 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 01:31:29 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 01:31:29 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 01:31:29 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 01:31:29 INFO: {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_7', + 'seed': 21302, + '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 01:31:29 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 01:31:29 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 01:31:29 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 01:31:29 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 01:31:29 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 01:31:29 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 01:31:29 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 01:31:29 INFO: {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_7', + 'seed': 21304, + '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 01:31:29 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 01:31:29 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 01:31:29 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 01:31:29 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 01:31:31 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 01:31:31 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 01:31:31 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 01:31:31 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 01:31:31 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 01:31:32 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 01:31:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:31:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:31:32 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 01:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:31:32 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 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079492m [env.py: 870] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:31:32 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 01:31:32 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 01:31:32 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 01:31:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:31:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:31:32 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 01:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:31:32 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 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081018m [env.py: 870] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:31:32 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 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:32 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 01:31:32 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94466076 1.24345228 0.07949187] yaw=-127.7deg [env.py: 1019] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94097666 0.20912728 0.08101815] yaw=158.0deg [env.py: 1019] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:31:32 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 01:31:32 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 01:31:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:31:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=14.4ms, retries=281.7ms, total=296.2ms [env.py: 1075] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.945, 1.243, 0.079) [env.py: 1079] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.7 deg [env.py: 1082] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:31:32 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 01:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:31:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036991m [env.py: 870] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:31:32 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 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78488079 0.9359038 0.08101815] yaw=-144.6deg [env.py: 1019] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01091474 0.15636647 0.08101815] yaw=152.9deg [env.py: 1019] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=24.4ms, retries=393.1ms, total=417.5ms [env.py: 1075] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.209, 0.081) [env.py: 1079] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.0 deg [env.py: 1082] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87658824 0.94301909 0.03699079] yaw=-145.2deg [env.py: 1019] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:31:32 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 01:31:32 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.60928348 0.46715654 0.03699079] yaw=189.8deg [env.py: 1019] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=70.9ms, retries=299.9ms, total=370.9ms [env.py: 1075] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.943, 0.037) [env.py: 1079] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg [env.py: 1082] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:31:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:31:32 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 01:31:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:31:32 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 01:31:32 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 01:31:32 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 01:31:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:31:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:31:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:31:32 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 01:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:31:32 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 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096745m [env.py: 870] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:31:32 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 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:31:32 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 01:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91514459 0.70968822 0.09674462] yaw=-172.7deg [env.py: 1019] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96692728 0.72929753 0.09674462] yaw=-170.9deg [env.py: 1019] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70788417 0.10207095 0.09674462] yaw=166.2deg [env.py: 1019] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:31:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=22.8ms, retries=264.2ms, total=286.9ms [env.py: 1075] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.710, 0.097) [env.py: 1079] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.7 deg [env.py: 1082] +05/11 01:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/11 01:31:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:31:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:31:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:31:33 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 01:32:00 INFO: [Worker 0] Warmed up parallel IK solver in 27.291s [base_object_manipulation_planner_policy.py: 377] +05/11 01:32:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:32:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:32:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:32:01 INFO: [Worker 0] Warmed up parallel IK solver in 28.996s [base_object_manipulation_planner_policy.py: 377] +05/11 01:32:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:32:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:32:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.108s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:32:02 INFO: [Worker 0] Warmed up parallel IK solver in 28.813s [base_object_manipulation_planner_policy.py: 377] +05/11 01:32:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:32:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:32:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:32:02 INFO: [Worker 0] Warmed up parallel IK solver in 29.511s [base_object_manipulation_planner_policy.py: 377] +05/11 01:32:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:32:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:32:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:32:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.103s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:32:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 83.451[deg] [grasp_sample.py: 539] +05/11 01:32:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:32:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:32:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:32:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.632s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:32:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.346[m] 84.768[deg] [grasp_sample.py: 539] +05/11 01:32:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.747s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:32:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.381[m] 89.921[deg] [grasp_sample.py: 539] +05/11 01:32:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:32:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:32:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:32:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:32:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:32:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:32:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.628s, found feasible grasp: False [grasp_sample.py: 500] +05/11 01:32:04 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 01:32:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:32:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:32:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:32:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:32:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:32:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:32:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010278m [env.py: 870] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:32:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95346817 0.76576416 0.01027799] yaw=-155.5deg [env.py: 1019] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61373926 0.51464779 0.01027799] yaw=-186.5deg [env.py: 1019] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:32:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.9ms, total=190.9ms [env.py: 1075] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.766, 0.010) [env.py: 1079] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg [env.py: 1082] +05/11 01:32:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:32:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:32:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:32:06 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 01:32:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/11 01:32:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:32:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:32:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:32:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.108s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:32:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.372[m] 92.895[deg] [grasp_sample.py: 539] +05/11 01:32:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:32:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:32:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:32:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:32:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:32:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:32:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:32:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:32:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:32:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:32:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:32:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:33:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:33:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:33:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:33:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:33:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:33:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:33:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:33:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:33:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:33:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:33:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:33:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:33:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:33:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:33:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 01:33:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.415s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:33:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.595[deg] [grasp_sample.py: 539] +05/11 01:33:57 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:33:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:33:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:33:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:33:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:33:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:33:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:33:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010639m [env.py: 870] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:33:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66648087 0.81771899 0.01063919] yaw=-155.5deg [env.py: 1019] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72922579 0.22027566 0.01063919] yaw=175.8deg [env.py: 1019] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76402374 0.87655768 0.01063919] yaw=-149.7deg [env.py: 1019] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.8ms, total=180.8ms [env.py: 1075] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.818, 0.011) [env.py: 1079] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg [env.py: 1082] +05/11 01:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m [env.py: 1086] +05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:33:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:33:59 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 01:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/11 01:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:33:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:33:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:34:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.667s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:34:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.631[m] 85.171[deg] [grasp_sample.py: 539] +05/11 01:34:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:34:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:34:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:34:49 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:34:49 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:34:52 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:35:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:35:08 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:35:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 01:35:08 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/11 01:35:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:35:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 01:35:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:35:13 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:35:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:35:13 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/11 01:35:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:35:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:35:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:35:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:35:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.13s (batch: 4.27s, save: 8.86s) [pipeline.py: 300] +05/11 01:35:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.98s: + episode_total: mean=233.22s, total=233.22s, count=1, min=233216.6ms, max=233216.6ms + sensor_polling: mean=516.0ms, total=153.26s, count=297, min=449.7ms, max=910.3ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8855.0ms, max=8855.0ms + physics_step: mean=24.8ms, total=7.36s, count=297, min=18.2ms, max=69.3ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4270.3ms, max=4270.3ms + task_sampling: mean=3.98s, total=3.98s, count=1, min=3979.6ms, max=3979.6ms + scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms + scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms + scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms + compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms + task_specific_sample: mean=571.0ms, total=571.0ms, count=1, min=571.0ms, max=571.0ms + compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms + scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms + scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms + compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms + asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms + compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms + asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=670.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:35:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:35:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:35:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:35:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:35:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:35:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:35:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021089m [env.py: 870] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:35:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:35:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:35:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:35:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.74s (batch: 5.21s, save: 8.54s) [pipeline.py: 300] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0237606 0.81904354 0.02108882] yaw=-151.9deg [env.py: 1019] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84613182 0.66262588 0.02108882] yaw=-176.1deg [env.py: 1019] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87771129 0.74042412 0.02108882] yaw=-171.8deg [env.py: 1019] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:35:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.3ms [env.py: 1075] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.819, 0.021) [env.py: 1079] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg [env.py: 1082] +05/11 01:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m [env.py: 1086] +05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:35:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:35:24 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 01:35:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/11 01:35:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:35:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:35:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:35:24 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.32s: + episode_total: mean=236.32s, total=236.32s, count=1, min=236323.7ms, max=236323.7ms + sensor_polling: mean=518.3ms, total=155.50s, count=300, min=450.2ms, max=805.5ms + save_trajectories: mean=8.54s, total=8.54s, count=1, min=8536.5ms, max=8536.5ms + physics_step: mean=25.7ms, total=7.71s, count=300, min=18.2ms, max=109.4ms + save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5207.7ms, max=5207.7ms + task_sampling: mean=4.32s, total=4.32s, count=1, min=4322.4ms, max=4322.4ms + scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms + scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms + task_specific_sample: mean=696.1ms, total=696.1ms, count=1, min=696.1ms, max=696.1ms + compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms + compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms + scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms + scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms + compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + mj_forward_sync: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + policy_setup: mean=52.9us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/11 01:35:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:35:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.320[m] 90.756[deg] [grasp_sample.py: 539] +05/11 01:35:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:35:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:35:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:35:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:35:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:35:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:35:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:35:26 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 01:35:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:35:26 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 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024994m [env.py: 870] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:35:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1017253 1.08829437 0.02499427] yaw=-123.7deg [env.py: 1019] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96416722 0.09796324 0.02499427] yaw=161.8deg [env.py: 1019] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.07448418 0.90395562 0.02499427] yaw=-144.4deg [env.py: 1019] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:35:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.5ms [env.py: 1075] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.102, 1.088, 0.025) [env.py: 1079] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.7 deg [env.py: 1082] +05/11 01:35:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:35:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:35:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:35:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:35:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.94s (batch: 4.59s, save: 9.35s) [pipeline.py: 300] +05/11 01:35:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:35:27 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 01:35:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 01:35:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:35:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:35:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:35:27 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.85s: + episode_total: mean=118.72s, total=237.44s, count=2, min=36175.7ms, max=201266.7ms + sensor_polling: mean=515.1ms, total=152.99s, count=297, min=447.7ms, max=747.4ms + save_trajectories: mean=9.35s, total=9.35s, count=1, min=9352.8ms, max=9352.8ms + physics_step: mean=25.8ms, total=7.65s, count=297, min=15.7ms, max=134.4ms + task_sampling: mean=2.43s, total=4.85s, count=2, min=446.6ms, max=4407.1ms + save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4586.3ms, max=4586.3ms + scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms + scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms + task_specific_sample: mean=598.9ms, total=1.20s, count=2, min=442.7ms, max=755.1ms + scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms + compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms + compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms + scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms + compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms + asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms + compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms + asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.3ms, max=2.4ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=514.5us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=37.3us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:35:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.828s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:35:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 102.086[deg] [grasp_sample.py: 539] +05/11 01:35:29 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:35:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:35:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:35:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:35:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:35:29 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 01:35:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:35:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037574m [env.py: 870] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:35:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69249484 0.76433619 0.03757412] yaw=-169.9deg [env.py: 1019] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91685599 1.1151431 0.03757412] yaw=-147.9deg [env.py: 1019] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72237891 0.18693578 0.03757412] yaw=172.1deg [env.py: 1019] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:35:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.9ms, total=108.9ms [env.py: 1075] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.764, 0.038) [env.py: 1079] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg [env.py: 1082] +05/11 01:35:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:35:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:35:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:35:29 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 01:35:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 01:35:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:35:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:35:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:35:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:35:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:35:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:35:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:35:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:35:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:35:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051528m [env.py: 870] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:35:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03506172 0.94062126 0.05152806] yaw=-137.3deg [env.py: 1019] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67623001 0.24465709 0.05152806] yaw=156.0deg [env.py: 1019] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10976061 1.00077301 0.05152806] yaw=-133.2deg [env.py: 1019] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:35:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.4ms, total=129.4ms [env.py: 1075] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.941, 0.052) [env.py: 1079] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg [env.py: 1082] +05/11 01:35:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:35:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:35:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:35:31 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 01:35:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 01:35:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:35:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:35:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:35:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.731s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:35:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 97.223[deg] [grasp_sample.py: 539] +05/11 01:35:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:35:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:35:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.397[m] 95.832[deg] [grasp_sample.py: 539] +05/11 01:35:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:35:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:35:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:35:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:35:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:35:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:36:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:36:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:36:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:36:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:36:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:36:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:36:37 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:36:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:36:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:37:00 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:37:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:37:00 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:37:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:37:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:37:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.46s (batch: 4.46s, save: 9.00s) [pipeline.py: 300] +05/11 01:37:14 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.20s: + episode_total: mean=171.78s, total=343.55s, count=2, min=148352.9ms, max=195199.2ms + sensor_polling: mean=506.4ms, total=239.01s, count=472, min=421.5ms, max=871.1ms + physics_step: mean=24.6ms, total=11.63s, count=472, min=17.2ms, max=65.6ms + save_trajectories: mean=9.00s, total=9.00s, count=1, min=9000.2ms, max=9000.2ms + save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4458.5ms, max=4458.5ms + task_sampling: mean=2.10s, total=4.20s, count=2, min=442.8ms, max=3759.5ms + scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms + task_specific_sample: mean=616.4ms, total=1.23s, count=2, min=440.0ms, max=792.9ms + scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms + compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms + compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms + scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms + scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms + asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms + asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms + compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.4ms, max=1.5ms + mj_forward_sync: mean=445.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=30.0us, 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 01:37:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:37:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:37:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:37:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:37:16 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 01:37:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:37:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048771m [env.py: 870] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:37:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96786748 1.2396158 0.04877066] yaw=-137.8deg [env.py: 1019] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94120844 0.08156254 0.04877066] yaw=155.1deg [env.py: 1019] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:37:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms [env.py: 1075] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.968, 1.240, 0.049) [env.py: 1079] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.8 deg [env.py: 1082] +05/11 01:37:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:37:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:37:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:37:16 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 01:37:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 01:37:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:37:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:37:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:37:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:37:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.652[m] 89.142[deg] [grasp_sample.py: 539] +05/11 01:37:19 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:37:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:37:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:37:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:37:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:37:21 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 01:37:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:37:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020202m [env.py: 870] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:37:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86381574 0.27934673 0.02020165] yaw=168.8deg [env.py: 1019] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74006074 0.77350165 0.02020165] yaw=-159.1deg [env.py: 1019] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:37:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.3ms, total=183.4ms [env.py: 1075] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.279, 0.020) [env.py: 1079] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg [env.py: 1082] +05/11 01:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:37:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:37:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:37:21 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 01:37:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 01:37:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:37:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:37:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:37:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:37:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.380[m] 83.610[deg] [grasp_sample.py: 539] +05/11 01:37:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:37:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:37:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:37:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:37:59 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:38:07 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:38:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:38:11 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:38:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:38:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:38:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 01:38:20 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/11 01:38:29 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:38:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:38:29 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:38:32 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:38:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 01:38:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:38:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:38:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:38:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.90s (batch: 4.67s, save: 8.23s) [pipeline.py: 300] +05/11 01:38:34 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s: + episode_total: mean=189.77s, total=189.77s, count=1, min=189771.6ms, max=189771.6ms + sensor_polling: mean=506.3ms, total=144.30s, count=285, min=447.1ms, max=722.6ms + save_trajectories: mean=8.23s, total=8.23s, count=1, min=8229.3ms, max=8229.3ms + physics_step: mean=24.3ms, total=6.92s, count=285, min=15.2ms, max=61.0ms + save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.4ms, max=4670.4ms + task_sampling: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms + task_specific_sample: mean=414.6ms, total=414.6ms, count=1, min=414.6ms, max=414.6ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + mj_forward_sync: mean=392.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.3us, 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 01:38:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:38:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:38:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:38:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:38:35 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 01:38:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:38:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053195m [env.py: 870] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:38:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82994202 0.22643865 0.05319456] yaw=154.2deg [env.py: 1019] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08443057 0.98622681 0.05319456] yaw=-136.7deg [env.py: 1019] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82916455 0.78750751 0.05319456] yaw=-166.7deg [env.py: 1019] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:38:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.7ms, total=110.7ms [env.py: 1075] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.226, 0.053) [env.py: 1079] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.2 deg [env.py: 1082] +05/11 01:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:38:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:38:36 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 01:38:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/11 01:38:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:38:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:38:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:38:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:38:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.507[m] 96.282[deg] [grasp_sample.py: 539] +05/11 01:38:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:38:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:38:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:38:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:38:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:38:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.02s (batch: 4.41s, save: 8.61s) [pipeline.py: 300] +05/11 01:38:42 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.38s: + episode_total: mean=193.56s, total=193.56s, count=1, min=193562.3ms, max=193562.3ms + sensor_polling: mean=486.8ms, total=146.05s, count=300, min=437.7ms, max=654.5ms + save_trajectories: mean=8.61s, total=8.61s, count=1, min=8610.1ms, max=8610.1ms + physics_step: mean=22.5ms, total=6.76s, count=300, min=15.8ms, max=33.8ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4406.2ms, max=4406.2ms + task_sampling: mean=376.1ms, total=376.1ms, count=1, min=376.1ms, max=376.1ms + task_specific_sample: mean=372.4ms, total=372.4ms, count=1, min=372.4ms, max=372.4ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.4us, 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 01:38:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:38:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:38:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:38:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:38:44 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 01:38:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:38:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059563m [env.py: 870] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:38:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00665645 0.12652272 0.05956302] yaw=160.7deg [env.py: 1019] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86614407 1.13379898 0.05956302] yaw=-142.8deg [env.py: 1019] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95791409 0.1044396 0.05956302] yaw=149.5deg [env.py: 1019] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:38:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.1ms [env.py: 1075] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.007, 0.127, 0.060) [env.py: 1079] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg [env.py: 1082] +05/11 01:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.781m [env.py: 1086] +05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:38:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:38:45 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 01:38:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/11 01:38:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:38:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:38:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:38:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:38:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.346[m] 90.367[deg] [grasp_sample.py: 539] +05/11 01:38:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:38:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:38:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:38:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:38:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:38:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.75s (batch: 4.81s, save: 8.93s) [pipeline.py: 300] +05/11 01:38:47 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.86s: + episode_total: mean=99.59s, total=199.18s, count=2, min=2479.6ms, max=196702.1ms + sensor_polling: mean=497.2ms, total=149.17s, count=300, min=443.6ms, max=662.2ms + save_trajectories: mean=8.93s, total=8.93s, count=1, min=8931.8ms, max=8931.8ms + physics_step: mean=24.2ms, total=7.27s, count=300, min=15.8ms, max=73.6ms + save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4814.2ms, max=4814.2ms + task_sampling: mean=429.2ms, total=858.5ms, count=2, min=377.9ms, max=480.5ms + task_specific_sample: mean=425.2ms, total=850.5ms, count=2, min=374.9ms, max=475.6ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.3ms, max=3.3ms + mj_forward_sync: mean=505.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:38:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:38:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:38:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:38:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:38:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:38:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:38:49 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 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090418m [env.py: 870] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:38:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79927448 0.6537196 0.09041773] yaw=-160.4deg [env.py: 1019] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04563501 0.85332866 0.09041773] yaw=-142.7deg [env.py: 1019] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06372889 0.9617134 0.09041773] yaw=-144.2deg [env.py: 1019] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:38:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=240.1ms, total=240.1ms [env.py: 1075] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.654, 0.090) [env.py: 1079] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg [env.py: 1082] +05/11 01:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m [env.py: 1086] +05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:38:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:38:49 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 01:38:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 01:38:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:38:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:38:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:38:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:38:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.481[m] 91.234[deg] [grasp_sample.py: 539] +05/11 01:38:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:38:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:38:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:39:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:39:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:39:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:39:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:39:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:39:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:39:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:39:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:39:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:39:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 01:39:30 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.479s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:39:30 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.654[deg] [grasp_sample.py: 539] +05/11 01:39:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:39:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:39:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:39:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:39:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:39:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:39:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:39:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:39:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:39:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:39:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:39:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:40:06 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:26 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:40:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:40:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:40:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:40:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:40:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:40:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 01:40:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:40:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:40:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.12s (batch: 4.34s, save: 8.77s) [pipeline.py: 300] +05/11 01:40:40 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.469s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:40:40 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.492[deg] [grasp_sample.py: 539] +05/11 01:40:40 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.90s: + episode_total: mean=101.41s, total=202.81s, count=2, min=3228.8ms, max=199582.4ms + sensor_polling: mean=479.1ms, total=143.73s, count=300, min=449.2ms, max=676.0ms + save_trajectories: mean=8.77s, total=8.77s, count=1, min=8774.3ms, max=8774.3ms + physics_step: mean=23.8ms, total=7.15s, count=300, min=15.3ms, max=68.2ms + save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.6ms, max=4344.6ms + task_sampling: mean=447.6ms, total=895.2ms, count=2, min=436.1ms, max=459.1ms + task_specific_sample: mean=444.2ms, total=888.4ms, count=2, min=433.2ms, max=455.3ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.5ms + mj_forward_sync: mean=429.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:40:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:40:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:40:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:40:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:40:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:40:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:40:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:40:42 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 01:40:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:40:42 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 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046409m [env.py: 870] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:40:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8388099 0.57420963 0.0464086 ] yaw=-180.7deg [env.py: 1019] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85545487 0.90323514 0.0464086 ] yaw=-159.0deg [env.py: 1019] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93814788 0.49113463 0.0464086 ] yaw=-183.3deg [env.py: 1019] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:40:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.5ms [env.py: 1075] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.574, 0.046) [env.py: 1079] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.7 deg [env.py: 1082] +05/11 01:40:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:40:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:40:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:40:42 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 01:40:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 01:40:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:40:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:40:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:40:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.486s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:40:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.391[m] 87.086[deg] [grasp_sample.py: 539] +05/11 01:40:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:40:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:40:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:40:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:40:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:40:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:40:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:40:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:40:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 01:40:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.455s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:40:59 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.273[deg] [grasp_sample.py: 539] +05/11 01:41:00 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:41:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:41:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:41:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:41:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:41:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:41:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:41:02 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 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028423m [env.py: 870] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:41:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99974987 0.17722536 0.02842251] yaw=146.2deg [env.py: 1019] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95510403 1.12082297 0.02842251] yaw=-133.8deg [env.py: 1019] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8810174 0.25697078 0.02842251] yaw=174.3deg [env.py: 1019] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:41:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.8ms, total=210.9ms [env.py: 1075] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.177, 0.028) [env.py: 1079] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.2 deg [env.py: 1082] +05/11 01:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m [env.py: 1086] +05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:41:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:41:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:41:02 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 01:41:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/11 01:41:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:41:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:41:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:41:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.570s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:41:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.341[m] 95.088[deg] [grasp_sample.py: 539] +05/11 01:41:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:41:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:41:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:41:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:41:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:41:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:41:22 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:41:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:41:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:41:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:41:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:41:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:41:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:41:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:41:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:41:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/11 01:41:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:41:35 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.990s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:41:35 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.279[deg] [grasp_sample.py: 539] +05/11 01:41:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:41:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:41:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:41:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:41:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:41:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:41:43 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:41:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 01:41:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:41:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:41:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:41:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:41:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:41:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:41:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:41:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.93s (batch: 4.66s, save: 8.27s) [pipeline.py: 300] +05/11 01:41:57 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s: + episode_total: mean=188.36s, total=188.36s, count=1, min=188357.4ms, max=188357.4ms + sensor_polling: mean=473.7ms, total=142.12s, count=300, min=445.5ms, max=704.6ms + save_trajectories: mean=8.27s, total=8.27s, count=1, min=8267.1ms, max=8267.1ms + physics_step: mean=22.2ms, total=6.65s, count=300, min=16.7ms, max=39.7ms + save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.5ms, max=4662.5ms + task_sampling: mean=561.5ms, total=561.5ms, count=1, min=561.5ms, max=561.5ms + task_specific_sample: mean=557.5ms, total=557.5ms, count=1, min=557.5ms, max=557.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=461.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.9us, 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 01:41:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:41:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:41:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:41:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:41:59 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 01:41:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:41:59 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 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005203m [env.py: 870] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:41:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63217493 0.67687139 0.00520305] yaw=-170.8deg [env.py: 1019] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81791308 0.74587446 0.00520305] yaw=-171.0deg [env.py: 1019] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77892566 -0.01597032 0.00520305] yaw=155.0deg [env.py: 1019] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:41:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.5ms, total=144.6ms [env.py: 1075] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.632, 0.677, 0.005) [env.py: 1079] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.8 deg [env.py: 1082] +05/11 01:41:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:41:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:41:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:41:59 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 01:41:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 01:41:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:41:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:41:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:42:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:42:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.607[m] 76.441[deg] [grasp_sample.py: 539] +05/11 01:42:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:42:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:42:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:42:05 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:42:26 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:42:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:42:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:42:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:42:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:42:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.32s (batch: 5.33s, save: 8.98s) [pipeline.py: 300] +05/11 01:42:41 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.42s: + episode_total: mean=237.33s, total=237.33s, count=1, min=237329.7ms, max=237329.7ms + sensor_polling: mean=485.7ms, total=145.70s, count=300, min=459.6ms, max=677.9ms + save_trajectories: mean=8.98s, total=8.98s, count=1, min=8982.1ms, max=8982.1ms + physics_step: mean=23.2ms, total=6.96s, count=300, min=14.7ms, max=61.7ms + save_batch_prep: mean=5.33s, total=5.33s, count=1, min=5333.9ms, max=5333.9ms + task_sampling: mean=416.0ms, total=416.0ms, count=1, min=416.0ms, max=416.0ms + task_specific_sample: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=394.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.0us, 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 01:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:42:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:42:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:42:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:42:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:42:43 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 01:42:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:42:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010254m [env.py: 870] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:42:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97492154 0.11714843 0.01025359] yaw=149.1deg [env.py: 1019] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87571417 0.68354527 0.01025359] yaw=-160.4deg [env.py: 1019] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00880394 0.10528263 0.01025359] yaw=159.8deg [env.py: 1019] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:42:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=310.9ms, total=310.9ms [env.py: 1075] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.117, 0.010) [env.py: 1079] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.1 deg [env.py: 1082] +05/11 01:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:42:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:42:44 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 01:42:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/11 01:42:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:42:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:42:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:42:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:42:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.357[m] 88.532[deg] [grasp_sample.py: 539] +05/11 01:42:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:42:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:42:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:42:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:42:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:42:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:42:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:42:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:42:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:42:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:42:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 01:42:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.511s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:42:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.226[deg] [grasp_sample.py: 539] +05/11 01:42:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:42:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:42:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:43:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:43:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:43:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:43:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:43:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:43:22 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:43:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:43:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:43:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:43:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:43:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:43:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:43:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:43:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.483s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:43:43 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.813[deg] [grasp_sample.py: 539] +05/11 01:43:44 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:43:45 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:43:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:43:45 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/11 01:43:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:43:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:43:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:43:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:43:46 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 01:43:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:43:46 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 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095192m [env.py: 870] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:43:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97544055 0.20613593 0.09519221] yaw=148.6deg [env.py: 1019] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83518246 0.45962411 0.09519221] yaw=177.8deg [env.py: 1019] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84207683 0.09891738 0.09519221] yaw=157.7deg [env.py: 1019] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:43:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.8ms [env.py: 1075] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.206, 0.095) [env.py: 1079] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.6 deg [env.py: 1082] +05/11 01:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m [env.py: 1086] +05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:43:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:43:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:43:46 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 01:43:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/11 01:43:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:43:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:43:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:43:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:43:47 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.392[m] 105.634[deg] [grasp_sample.py: 539] +05/11 01:43:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:43:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:43:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:43:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:43:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:43:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.36s (batch: 4.56s, save: 8.80s) [pipeline.py: 300] +05/11 01:43:59 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.54s: + episode_total: mean=196.93s, total=196.93s, count=1, min=196932.8ms, max=196932.8ms + sensor_polling: mean=492.3ms, total=147.20s, count=299, min=449.7ms, max=727.0ms + save_trajectories: mean=8.80s, total=8.80s, count=1, min=8803.3ms, max=8803.3ms + physics_step: mean=24.8ms, total=7.42s, count=299, min=15.7ms, max=39.3ms + save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4558.8ms, max=4558.8ms + task_sampling: mean=542.2ms, total=542.2ms, count=1, min=542.2ms, max=542.2ms + task_specific_sample: mean=538.3ms, total=538.3ms, count=1, min=538.3ms, max=538.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=457.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:44:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:44:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:44:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:44:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:44:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:44:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:44:01 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 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007125m [env.py: 870] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:44:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0202967 0.92570172 0.00712482] yaw=-149.0deg [env.py: 1019] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9016868 0.26392259 0.00712482] yaw=169.2deg [env.py: 1019] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89914471 0.05612978 0.00712482] yaw=162.7deg [env.py: 1019] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:44:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms [env.py: 1075] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.926, 0.007) [env.py: 1079] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg [env.py: 1082] +05/11 01:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:44:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:44:01 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 01:44:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/11 01:44:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:44:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:44:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:44:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:44:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 96.168[deg] [grasp_sample.py: 539] +05/11 01:44:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:44:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:44:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:44:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:44:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:44:34 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:44:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:44:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:44:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:44:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:44:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:44:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:44:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:44:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:44:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:44:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:44:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 01:44:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:44:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.730[deg] [grasp_sample.py: 539] +05/11 01:44:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:44:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:44:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:44:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:44:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 01:44:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:44:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:45:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:45:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:45:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:45:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.34s (batch: 4.78s, save: 8.56s) [pipeline.py: 300] +05/11 01:45:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:45:10 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.48s: + episode_total: mean=191.48s, total=191.48s, count=1, min=191477.9ms, max=191477.9ms + sensor_polling: mean=481.3ms, total=144.40s, count=300, min=453.9ms, max=692.7ms + save_trajectories: mean=8.56s, total=8.56s, count=1, min=8564.0ms, max=8564.0ms + physics_step: mean=21.6ms, total=6.47s, count=300, min=14.9ms, max=32.1ms + save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4776.5ms, max=4776.5ms + task_sampling: mean=477.4ms, total=477.4ms, count=1, min=477.4ms, max=477.4ms + task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=439.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.7us, 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 01:45:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:45:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:45:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:45:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:45:12 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 01:45:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:45:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099007m [env.py: 870] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:45:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79961582 0.50625642 0.0990071 ] yaw=-168.9deg [env.py: 1019] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70938538 0.75528475 0.0990071 ] yaw=-175.9deg [env.py: 1019] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98688352 0.9852422 0.0990071 ] yaw=-147.3deg [env.py: 1019] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:45:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms [env.py: 1075] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.506, 0.099) [env.py: 1079] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg [env.py: 1082] +05/11 01:45:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:45:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:45:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:45:12 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 01:45:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 01:45:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:45:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:45:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:45:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:45:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.483[m] 92.513[deg] [grasp_sample.py: 539] +05/11 01:45:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:45:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:45:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:45:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:45:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:45:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:45:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:45:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 01:45:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:26 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.468s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:45:26 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.140[deg] [grasp_sample.py: 539] +05/11 01:45:27 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:45:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:45:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:45:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:45:29 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 01:45:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:45:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019247m [env.py: 870] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:45:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1748546 1.10011804 0.01924706] yaw=-123.4deg [env.py: 1019] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85939754 0.55980857 0.01924706] yaw=-179.5deg [env.py: 1019] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62713656 0.49240393 0.01924706] yaw=-177.4deg [env.py: 1019] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:45:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.2ms [env.py: 1075] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.175, 1.100, 0.019) [env.py: 1079] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.4 deg [env.py: 1082] +05/11 01:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:45:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:45:29 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 01:45:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 01:45:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:45:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:45:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:45:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:45:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.397[m] 85.887[deg] [grasp_sample.py: 539] +05/11 01:45:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:45:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:45:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:45:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:45:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:45:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:45:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:45:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:45:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.510s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:45:38 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.942[deg] [grasp_sample.py: 539] +05/11 01:45:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:45:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:45:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:45:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:45:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:45:55 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:46:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:46:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:46:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:46:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:46:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:46:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:46:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:46:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:46:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:46:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:46:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:46:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.31s (batch: 4.45s, save: 8.86s) [pipeline.py: 300] +05/11 01:46:31 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.59s: + episode_total: mean=227.52s, total=227.52s, count=1, min=227520.4ms, max=227520.4ms + sensor_polling: mean=502.1ms, total=150.64s, count=300, min=463.4ms, max=724.8ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8859.8ms, max=8859.8ms + physics_step: mean=22.9ms, total=6.88s, count=300, min=15.1ms, max=64.3ms + save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4452.3ms, max=4452.3ms + task_sampling: mean=591.8ms, total=591.8ms, count=1, min=591.8ms, max=591.8ms + task_specific_sample: mean=588.0ms, total=588.0ms, count=1, min=588.0ms, max=588.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=446.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 01:46:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:46:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:46:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:46:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:46:32 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 01:46:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:46:32 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 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087411m [env.py: 870] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:46:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0889816 1.13404858 0.08741101] yaw=-134.5deg [env.py: 1019] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77037237 0.49990515 0.08741101] yaw=-187.3deg [env.py: 1019] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72796429 0.44351872 0.08741101] yaw=177.1deg [env.py: 1019] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:46:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.5ms, total=105.6ms [env.py: 1075] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.089, 1.134, 0.087) [env.py: 1079] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg [env.py: 1082] +05/11 01:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:46:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:46:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:46:33 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 01:46:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/11 01:46:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:46:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:46:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:46:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.598s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:46:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.468[m] 87.636[deg] [grasp_sample.py: 539] +05/11 01:46:36 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:46:36 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:46:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:46:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:46:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:46:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:46:37 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 01:46:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:46:37 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 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081088m [env.py: 870] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:46:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90936579 0.31391192 0.08108846] yaw=177.3deg [env.py: 1019] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94715813 1.00139768 0.08108846] yaw=-145.1deg [env.py: 1019] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78068422 0.14210473 0.08108846] yaw=167.6deg [env.py: 1019] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:46:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.4ms, total=196.4ms [env.py: 1075] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.314, 0.081) [env.py: 1079] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg [env.py: 1082] +05/11 01:46:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:46:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:46:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:46:38 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 01:46:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/11 01:46:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:46:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:46:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:46:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:46:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.367[m] 88.450[deg] [grasp_sample.py: 539] +05/11 01:46:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:46:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:46:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:46:57 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:46:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:46:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:47:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:47:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:47:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.53s (batch: 4.59s, save: 10.95s) [pipeline.py: 300] +05/11 01:47:13 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s: + episode_total: mean=192.32s, total=192.32s, count=1, min=192316.3ms, max=192316.3ms + sensor_polling: mean=483.1ms, total=144.94s, count=300, min=447.7ms, max=736.6ms + save_trajectories: mean=10.95s, total=10.95s, count=1, min=10945.9ms, max=10945.9ms + physics_step: mean=22.7ms, total=6.81s, count=300, min=16.7ms, max=33.5ms + save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.7ms, max=4587.7ms + task_sampling: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms + task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms + scene_randomize: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms + mj_forward_sync: mean=501.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=35.0us, 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 01:47:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:47:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:47:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:47:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:47:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:47:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:47:15 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 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016013m [env.py: 870] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:47:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7508625 0.28743108 0.01601278] yaw=170.1deg [env.py: 1019] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88813852 0.65228248 0.01601278] yaw=-169.2deg [env.py: 1019] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.926092 0.1978525 0.01601278] yaw=169.3deg [env.py: 1019] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:47:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.5ms, total=117.5ms [env.py: 1075] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.287, 0.016) [env.py: 1079] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg [env.py: 1082] +05/11 01:47:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:47:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:47:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:47:15 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 01:47:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/11 01:47:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:47:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:47:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:47:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:47:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.524[m] 89.404[deg] [grasp_sample.py: 539] +05/11 01:47:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:47:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:47:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:47:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:47:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:47:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:47:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:47:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:47:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.615s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:47:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.111[deg] [grasp_sample.py: 539] +05/11 01:47:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:47:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:47:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:47:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:47:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:47:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:47:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:47:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:47:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:47:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.718s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:47:54 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.445[deg] [grasp_sample.py: 539] +05/11 01:47:55 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:47:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:47:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:47:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:47:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:47:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:47:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:47:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053068m [env.py: 870] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:47:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86918567 0.14626203 0.05306787] yaw=154.4deg [env.py: 1019] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65037721 0.30026888 0.05306787] yaw=173.7deg [env.py: 1019] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:47:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms [env.py: 1075] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.146, 0.053) [env.py: 1079] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg [env.py: 1082] +05/11 01:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:47:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:47:57 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 01:47:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/11 01:47:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:47:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:47:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:47:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.551s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:47:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.511[m] 102.421[deg] [grasp_sample.py: 539] +05/11 01:47:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:47:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:47:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:48:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:48:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:48:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:48:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:48:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 01:48:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:48:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:48:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:48:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:48:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.441s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:48:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.026[deg] [grasp_sample.py: 539] +05/11 01:48:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:48:22 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:48:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:48:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:48:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:48:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:48:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:48:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 01:48:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:48:33 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.353s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:48:33 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg] [grasp_sample.py: 539] +05/11 01:48:34 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:48:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:48:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:48:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:48:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:48:36 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 01:48:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:48:36 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 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041107m [env.py: 870] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:48:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7540735 0.86778566 0.04110691] yaw=-167.5deg [env.py: 1019] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6618206 0.76808687 0.04110691] yaw=-164.6deg [env.py: 1019] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:48:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=343.7ms, total=343.7ms [env.py: 1075] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.868, 0.041) [env.py: 1079] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg [env.py: 1082] +05/11 01:48:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:48:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:48:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:48:36 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 01:48:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/11 01:48:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:48:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:48:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:48:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.709s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:48:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 81.961[deg] [grasp_sample.py: 539] +05/11 01:48:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:48:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:48:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:48:49 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:48:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 01:48:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:48:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:49:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:49:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:49:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.85s (batch: 5.13s, save: 8.72s) [pipeline.py: 300] +05/11 01:49:03 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.48s: + episode_total: mean=231.47s, total=231.47s, count=1, min=231471.6ms, max=231471.6ms + sensor_polling: mean=507.1ms, total=152.14s, count=300, min=445.5ms, max=900.9ms + save_trajectories: mean=8.72s, total=8.72s, count=1, min=8717.6ms, max=8717.6ms + physics_step: mean=23.5ms, total=7.05s, count=300, min=13.7ms, max=64.8ms + save_batch_prep: mean=5.13s, total=5.13s, count=1, min=5129.8ms, max=5129.8ms + task_sampling: mean=483.5ms, total=483.5ms, count=1, min=483.5ms, max=483.5ms + task_specific_sample: mean=479.3ms, total=479.3ms, count=1, min=479.3ms, max=479.3ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:49:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:49:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:49:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:49:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:49:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:49:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:49:05 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 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065834m [env.py: 870] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:49:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98127483 1.27125665 0.06583383] yaw=-135.0deg [env.py: 1019] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69601389 0.32374337 0.06583383] yaw=169.7deg [env.py: 1019] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:49:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=189.9ms, total=190.0ms [env.py: 1075] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 1.271, 0.066) [env.py: 1079] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg [env.py: 1082] +05/11 01:49:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m [env.py: 1086] +05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:49:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:49:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:49:06 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 01:49:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 01:49:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:49:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:49:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:49:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: False [grasp_sample.py: 500] +05/11 01:49:07 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 01:49:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:49:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:49:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:49:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:49:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:49:09 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 01:49:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:49:09 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 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000473m [env.py: 870] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:49:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-7.20458160e-01 9.41368600e-01 4.73418963e-04] yaw=-150.2deg [env.py: 1019] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.46385339e-01 7.84785046e-01 4.73418963e-04] yaw=-167.9deg [env.py: 1019] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-9.23934522e-01 1.75363987e-01 4.73418963e-04] yaw=157.1deg [env.py: 1019] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:49:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=297.0ms, total=297.0ms [env.py: 1075] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.720, 0.941, 0.000) [env.py: 1079] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg [env.py: 1082] +05/11 01:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:49:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:49:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:49:10 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 01:49:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 01:49:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:49:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:49:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:49:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:49:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.834s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:49:12 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.671[m] 84.034[deg] [grasp_sample.py: 539] +05/11 01:49:14 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:49:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:49:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:49:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:49:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:49:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:49:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:49:15 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 01:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066478m [env.py: 870] +05/11 01:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:49:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08243711 1.20809215 0.06647776] yaw=-134.1deg [env.py: 1019] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87923246 0.62176336 0.06647776] yaw=-174.1deg [env.py: 1019] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80276464 1.06920668 0.06647776] yaw=-147.7deg [env.py: 1019] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:49:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=630.3ms, total=630.4ms [env.py: 1075] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.082, 1.208, 0.066) [env.py: 1079] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.1 deg [env.py: 1082] +05/11 01:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:49:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:49:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:49:16 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 01:49:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/11 01:49:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:49:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:49:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:49:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.063s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:49:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 93.039[deg] [grasp_sample.py: 539] +05/11 01:49:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:49:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:49:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:49:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:49:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:49:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:50:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:16 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:50:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:50:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:50:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:50:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:50:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 01:50:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.374s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:50:21 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.221[deg] [grasp_sample.py: 539] +05/11 01:50:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:50:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:50:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:50:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:50:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:50:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:50:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:50:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:50:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.102s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 01:50:26 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.796s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:50:26 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.222[deg] [grasp_sample.py: 539] +05/11 01:50:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:50:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:50:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:50:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:50:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:50:40 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:50:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:50:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:50:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:50:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:50:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:50:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.66s (batch: 4.28s, save: 10.38s) [pipeline.py: 300] +05/11 01:50:55 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s: + episode_total: mean=220.66s, total=220.66s, count=1, min=220657.7ms, max=220657.7ms + sensor_polling: mean=529.9ms, total=158.96s, count=300, min=435.5ms, max=946.3ms + save_trajectories: mean=10.38s, total=10.38s, count=1, min=10377.3ms, max=10377.3ms + physics_step: mean=26.9ms, total=8.08s, count=300, min=18.3ms, max=97.7ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4278.1ms, max=4278.1ms + task_sampling: mean=446.2ms, total=446.2ms, count=1, min=446.2ms, max=446.2ms + task_specific_sample: mean=441.3ms, total=441.3ms, count=1, min=441.3ms, max=441.3ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=612.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=29.6us, 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 01:50:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:50:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:50:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:50:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:50:58 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 01:50:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:50:58 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 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077561m [env.py: 870] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:50:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69320892 0.81309939 0.07756099] yaw=-152.9deg [env.py: 1019] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99189788 0.21727546 0.07756099] yaw=160.5deg [env.py: 1019] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7083104 0.47951049 0.07756099] yaw=181.5deg [env.py: 1019] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:50:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=505.3ms, total=505.3ms [env.py: 1075] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.813, 0.078) [env.py: 1079] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg [env.py: 1082] +05/11 01:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:50:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:50:58 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 01:50:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:50:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/11 01:50:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:50:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:50:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:51:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.045s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:51:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.619[m] 80.130[deg] [grasp_sample.py: 539] +05/11 01:51:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:51:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:51:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:51:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:51:08 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:51:19 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:51:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:51:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:51:35 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:51:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 01:51:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:51:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:51:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:51:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:51:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:51:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:51:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:51:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:51:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.506s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:51:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.328[deg] [grasp_sample.py: 539] +05/11 01:51:40 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:51:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:51:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:51:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:51:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:51:42 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 01:51:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:51:42 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 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082121m [env.py: 870] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:51:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04203105 1.01662989 0.08212055] yaw=-142.0deg [env.py: 1019] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.20385246 1.04899111 0.08212055] yaw=-138.6deg [env.py: 1019] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:51:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=261.2ms, total=261.2ms [env.py: 1075] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.017, 0.082) [env.py: 1079] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.0 deg [env.py: 1082] +05/11 01:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:51:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:51:42 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 01:51:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/11 01:51:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:51:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:51:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:51:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.830s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:51:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.404[m] 83.126[deg] [grasp_sample.py: 539] +05/11 01:51:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:51:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:51:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:51:45 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:51:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:51:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:51:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:51:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:51:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.42s (batch: 4.28s, save: 8.13s) [pipeline.py: 300] +05/11 01:51:48 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=2.31s: + episode_total: mean=156.90s, total=784.52s, count=5, min=100760.1ms, max=230806.7ms + sensor_polling: mean=493.6ms, total=598.29s, count=1212, min=429.7ms, max=1049.2ms + physics_step: mean=23.7ms, total=28.76s, count=1212, min=14.2ms, max=85.4ms + save_trajectories: mean=8.13s, total=8.13s, count=1, min=8132.4ms, max=8132.4ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.3ms, max=4283.3ms + task_sampling: mean=462.7ms, total=2.31s, count=5, min=410.6ms, max=509.2ms + task_specific_sample: mean=458.8ms, total=2.29s, count=5, min=406.3ms, max=505.5ms + scene_randomize: mean=1.9ms, total=9.4ms, count=5, min=1.4ms, max=2.9ms + mj_forward_sync: mean=485.5us, total=2.4ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=19.9us, 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 01:51:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:51:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:51:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:51:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:51:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:51:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:51:49 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 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032304m [env.py: 870] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:51:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96908749 0.80568417 0.03230376] yaw=-156.5deg [env.py: 1019] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95713437 0.2353576 0.03230376] yaw=152.2deg [env.py: 1019] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9496352 0.90947818 0.03230376] yaw=-143.3deg [env.py: 1019] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:51:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.6ms [env.py: 1075] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.969, 0.806, 0.032) [env.py: 1079] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg [env.py: 1082] +05/11 01:51:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:51:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:51:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:51:50 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 01:51:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/11 01:51:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:51:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:51:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:51:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:51:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 90.348[deg] [grasp_sample.py: 539] +05/11 01:51:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:51:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:51:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:51:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:51:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:51:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.51s (batch: 4.06s, save: 8.46s) [pipeline.py: 300] +05/11 01:51:58 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s: + episode_total: mean=107.52s, total=322.55s, count=3, min=3195.6ms, max=202707.3ms + sensor_polling: mean=513.3ms, total=246.36s, count=480, min=434.0ms, max=942.3ms + physics_step: mean=25.9ms, total=12.44s, count=480, min=15.3ms, max=92.6ms + save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.8ms, max=8455.8ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.5ms, max=4058.5ms + task_sampling: mean=515.3ms, total=1.55s, count=3, min=404.8ms, max=683.9ms + task_specific_sample: mean=511.8ms, total=1.54s, count=3, min=400.6ms, max=680.6ms + scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.2ms, max=2.9ms + mj_forward_sync: mean=488.3us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=19.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:52:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:52:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:52:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:52:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:52:00 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 01:52:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:52:00 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 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026012m [env.py: 870] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:52:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:52:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83272999 0.14457834 0.02601164] yaw=170.0deg [env.py: 1019] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92951344 0.41597284 0.02601164] yaw=181.2deg [env.py: 1019] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00220265 0.78996325 0.02601164] yaw=-152.5deg [env.py: 1019] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:52:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=440.8ms, total=440.8ms [env.py: 1075] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.145, 0.026) [env.py: 1079] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg [env.py: 1082] +05/11 01:52:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:52:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:52:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:52:01 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 01:52:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s [base_object_manipulation_planner_policy.py: 377] +05/11 01:52:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:52:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:52:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.101s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:52:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.217s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:52:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.503[m] 87.087[deg] [grasp_sample.py: 539] +05/11 01:52:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:52:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:52:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:52:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:52:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:52:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:52:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:52:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:52:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:52:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:52:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:52:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:53:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:53:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:53:26 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:53:47 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:53:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:53:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:53:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:53:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:53:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.66s (batch: 4.02s, save: 8.64s) [pipeline.py: 300] +05/11 01:54:00 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.82s: + episode_total: mean=182.53s, total=182.53s, count=1, min=182531.1ms, max=182531.1ms + sensor_polling: mean=449.8ms, total=134.93s, count=300, min=374.1ms, max=726.3ms + save_trajectories: mean=8.64s, total=8.64s, count=1, min=8644.7ms, max=8644.7ms + physics_step: mean=20.5ms, total=6.15s, count=300, min=16.7ms, max=50.6ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4018.3ms, max=4018.3ms + task_sampling: mean=824.0ms, total=824.0ms, count=1, min=824.0ms, max=824.0ms + task_specific_sample: mean=815.1ms, total=815.1ms, count=1, min=815.1ms, max=815.1ms + scene_randomize: mean=7.3ms, total=7.3ms, count=1, min=7.3ms, max=7.3ms + mj_forward_sync: mean=636.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=33.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:54:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:54:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:54:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:54:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:54:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:54:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058022m [env.py: 870] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:54:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80857765 0.89300258 0.05802197] yaw=-159.9deg [env.py: 1019] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66461089 0.47854952 0.05802197] yaw=187.6deg [env.py: 1019] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20675719 1.10200052 0.05802197] yaw=-129.6deg [env.py: 1019] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:54:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.7ms [env.py: 1075] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.809, 0.893, 0.058) [env.py: 1079] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg [env.py: 1082] +05/11 01:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:54:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:54:03 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 01:54:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s [base_object_manipulation_planner_policy.py: 377] +05/11 01:54:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:54:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:54:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.412s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:54:08 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.555[m] 74.349[deg] [grasp_sample.py: 539] +05/11 01:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:10 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:54:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:54:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:54:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:54:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:54:12 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 01:54:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:54:12 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 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007955m [env.py: 870] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:54:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93855901 0.9035202 0.00795479] yaw=-148.1deg [env.py: 1019] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7447752 0.67854128 0.00795479] yaw=-167.6deg [env.py: 1019] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64676416 0.32068643 0.00795479] yaw=166.6deg [env.py: 1019] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:54:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.7ms, total=177.8ms [env.py: 1075] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.904, 0.008) [env.py: 1079] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg [env.py: 1082] +05/11 01:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:54:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:54:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:54:12 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 01:54:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/11 01:54:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:54:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:54:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:54:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:54:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:54:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:54:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 01:54:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:54:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.470[m] 96.112[deg] [grasp_sample.py: 539] +05/11 01:54:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:54:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:54:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:54:14 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.490s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:54:14 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.248[deg] [grasp_sample.py: 539] +05/11 01:54:15 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:54:15 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 01:54:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:54:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:54:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:54:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:54:17 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 01:54:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:54:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068764m [env.py: 870] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:54:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67195298 0.14584597 0.06876416] yaw=154.0deg [env.py: 1019] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65602324 0.22489266 0.06876416] yaw=176.2deg [env.py: 1019] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74381224 -0.01363215 0.06876416] yaw=141.8deg [env.py: 1019] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:54:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.8ms, total=193.8ms [env.py: 1075] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.146, 0.069) [env.py: 1079] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg [env.py: 1082] +05/11 01:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:54:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:54:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:54:17 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 01:54:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 01:54:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:54:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:54:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:54:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.405s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:54:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.635[m] 85.157[deg] [grasp_sample.py: 539] +05/11 01:54:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:54:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:54:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:54:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:54:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:54:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:54:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:54:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 01:54:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:54:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.719[deg] [grasp_sample.py: 539] +05/11 01:54:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:54:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:54:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:54:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:54:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 01:54:36 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/11 01:54:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:54:47 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:54:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:54:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:54:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.17s (batch: 4.44s, save: 9.72s) [pipeline.py: 300] +05/11 01:54:51 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.34s: + episode_total: mean=181.95s, total=181.95s, count=1, min=181945.6ms, max=181945.6ms + sensor_polling: mean=452.5ms, total=135.29s, count=299, min=387.4ms, max=661.8ms + save_trajectories: mean=9.72s, total=9.72s, count=1, min=9723.3ms, max=9723.3ms + physics_step: mean=21.0ms, total=6.27s, count=299, min=13.6ms, max=48.4ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4441.8ms, max=4441.8ms + task_sampling: mean=344.1ms, total=344.1ms, count=1, min=344.1ms, max=344.1ms + task_specific_sample: mean=340.6ms, total=340.6ms, count=1, min=340.6ms, max=340.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=368.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:54:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:54:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:54:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:54:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:54:53 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 01:54:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:54:53 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 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095887m [env.py: 870] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:54:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68537288 0.86644215 0.09588694] yaw=-148.2deg [env.py: 1019] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78697182 1.00826177 0.09588694] yaw=-149.3deg [env.py: 1019] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75505762 -0.03542559 0.09588694] yaw=149.4deg [env.py: 1019] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:54:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.4ms, total=97.4ms [env.py: 1075] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.866, 0.096) [env.py: 1079] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg [env.py: 1082] +05/11 01:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:54:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:54:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:54:53 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 01:54:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/11 01:54:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:54:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:54:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:54:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.608s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:54:56 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.720[m] 92.576[deg] [grasp_sample.py: 539] +05/11 01:54:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:54:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:54:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:54:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:55:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:55:09 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:55:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:55:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:55:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:55:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:55:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:55:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:55:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.09s (batch: 5.04s, save: 10.05s) [pipeline.py: 300] +05/11 01:55:24 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.82s: + episode_total: mean=204.45s, total=204.45s, count=1, min=204447.1ms, max=204447.1ms + sensor_polling: mean=460.3ms, total=138.08s, count=300, min=390.0ms, max=774.5ms + save_trajectories: mean=10.05s, total=10.05s, count=1, min=10047.0ms, max=10047.0ms + physics_step: mean=21.8ms, total=6.53s, count=300, min=16.7ms, max=74.2ms + save_batch_prep: mean=5.04s, total=5.04s, count=1, min=5044.3ms, max=5044.3ms + task_sampling: mean=824.6ms, total=824.6ms, count=1, min=824.6ms, max=824.6ms + task_specific_sample: mean=820.4ms, total=820.4ms, count=1, min=820.4ms, max=820.4ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=549.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.8us, 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 01:55:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:55:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:55:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:55:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:55:26 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 01:55:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:55:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045787m [env.py: 870] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:55:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85177344 0.80161985 0.04578702] yaw=-148.3deg [env.py: 1019] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82275171 0.34723991 0.04578702] yaw=176.9deg [env.py: 1019] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:55:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.6ms, total=154.7ms [env.py: 1075] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.802, 0.046) [env.py: 1079] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.3 deg [env.py: 1082] +05/11 01:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:55:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:55:26 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 01:55:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/11 01:55:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:55:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:55:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:55:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:55:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 91.899[deg] [grasp_sample.py: 539] +05/11 01:55:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:55:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:55:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:55:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:55:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:56:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:56:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:56:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:56:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:56:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:56:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:56:35 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:56:47 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:56:56 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:56:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 01:56:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:57:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:57:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:57:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 12.01s (batch: 3.78s, save: 8.23s) [pipeline.py: 300] +05/11 01:57:09 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.87s: + episode_total: mean=92.60s, total=185.19s, count=2, min=8247.1ms, max=176947.7ms + sensor_polling: mean=442.9ms, total=132.88s, count=300, min=380.0ms, max=720.8ms + save_trajectories: mean=8.23s, total=8.23s, count=1, min=8229.6ms, max=8229.6ms + physics_step: mean=20.5ms, total=6.15s, count=300, min=14.3ms, max=52.0ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3784.8ms, max=3784.8ms + task_sampling: mean=435.2ms, total=870.4ms, count=2, min=399.7ms, max=470.6ms + task_specific_sample: mean=431.5ms, total=863.0ms, count=2, min=396.6ms, max=466.5ms + scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms + mj_forward_sync: mean=477.4us, total=1.0ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:57:10 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:57:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 01:57:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:57:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:57:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:57:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:57:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:57:11 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 01:57:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:57:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085128m [env.py: 870] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:57:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78993468 1.03177546 0.08512784] yaw=-137.9deg [env.py: 1019] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86007157 0.9490361 0.08512784] yaw=-151.4deg [env.py: 1019] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9399273 0.84934148 0.08512784] yaw=-145.6deg [env.py: 1019] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:57:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.7ms, total=137.7ms [env.py: 1075] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 1.032, 0.085) [env.py: 1079] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg [env.py: 1082] +05/11 01:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:57:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:57:11 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 01:57:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/11 01:57:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:57:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:57:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:57:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.408s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:57:17 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.668[m] 89.271[deg] [grasp_sample.py: 539] +05/11 01:57:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:57:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:57:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:57:18 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:57:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:57:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:57:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 14.08s (batch: 5.43s, save: 8.65s) [pipeline.py: 300] +05/11 01:57:25 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=2.88s: + episode_total: mean=98.61s, total=493.03s, count=5, min=2253.4ms, max=187870.5ms + sensor_polling: mean=455.6ms, total=377.67s, count=829, min=382.7ms, max=917.1ms + physics_step: mean=21.6ms, total=17.95s, count=829, min=14.3ms, max=75.0ms + save_trajectories: mean=8.65s, total=8.65s, count=1, min=8650.1ms, max=8650.1ms + save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5425.7ms, max=5425.7ms + task_sampling: mean=576.2ms, total=2.88s, count=5, min=419.2ms, max=940.7ms + task_specific_sample: mean=572.8ms, total=2.86s, count=5, min=415.6ms, max=937.7ms + scene_randomize: mean=1.6ms, total=8.2ms, count=5, min=1.2ms, max=2.8ms + mj_forward_sync: mean=485.3us, total=2.4ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=16.7us, 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 01:57:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:57:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:57:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:57:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:57:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:57:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:57:27 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 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018193m [env.py: 870] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:57:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00445114 0.18134752 0.01819271] yaw=149.8deg [env.py: 1019] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9775352 0.8569201 0.01819271] yaw=-163.2deg [env.py: 1019] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90034711 0.55013614 0.01819271] yaw=-177.5deg [env.py: 1019] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:57:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.2ms [env.py: 1075] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.181, 0.018) [env.py: 1079] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.8 deg [env.py: 1082] +05/11 01:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m [env.py: 1086] +05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:57:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:57:27 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 01:57:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/11 01:57:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:57:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:57:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:57:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.443s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:57:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.330[m] 88.079[deg] [grasp_sample.py: 539] +05/11 01:57:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:57:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:57:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:57:37 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:57:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 01:57:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:57:51 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 01:57:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:57:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:57:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 13.58s (batch: 3.62s, save: 9.95s) [pipeline.py: 300] +05/11 01:57:52 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.39s: + episode_total: mean=178.96s, total=178.96s, count=1, min=178958.0ms, max=178958.0ms + sensor_polling: mean=443.3ms, total=132.99s, count=300, min=379.3ms, max=870.5ms + save_trajectories: mean=9.95s, total=9.95s, count=1, min=9951.2ms, max=9951.2ms + physics_step: mean=20.4ms, total=6.11s, count=300, min=13.7ms, max=56.4ms + save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.0ms, max=3624.0ms + task_sampling: mean=392.7ms, total=392.7ms, count=1, min=392.7ms, max=392.7ms + task_specific_sample: mean=388.5ms, total=388.5ms, count=1, min=388.5ms, max=388.5ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=571.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 01:57:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:57:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:57:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:57:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:57:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:57:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:57:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071542m [env.py: 870] +05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:57:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.4ms, total=202.4ms [env.py: 1105] +05/11 01:57:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/11 01:57:54 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/11 01:57:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:57:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:57:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:57:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:57:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:57:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:57:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 01:57:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:57:55 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 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094285m [env.py: 870] +05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:57:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96119309 0.7485277 0.09428501] yaw=-158.1deg [env.py: 1019] +05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:57:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=158.9ms, total=159.0ms [env.py: 1075] +05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 0.749, 0.094) [env.py: 1079] +05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg [env.py: 1082] +05/11 01:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m [env.py: 1086] +05/11 01:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:57:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:57:56 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 01:57:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/11 01:57:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:57:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:57:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:57:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.653s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:57:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.388[m] 94.829[deg] [grasp_sample.py: 539] +05/11 01:57:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:57:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:57:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:58:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:58:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:58:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:58:13 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 [pipeline.py: 1174] +05/11 01:58:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 01:58:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 01:58:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:58:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 01:58:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 [save_utils.py: 785] +05/11 01:58:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_013 in 15.07s (batch: 4.03s, save: 11.04s) [pipeline.py: 300] +05/11 01:58:29 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s: + episode_total: mean=183.47s, total=183.47s, count=1, min=183465.1ms, max=183465.1ms + sensor_polling: mean=449.5ms, total=134.84s, count=300, min=382.1ms, max=786.9ms + save_trajectories: mean=11.04s, total=11.04s, count=1, min=11037.8ms, max=11037.8ms + physics_step: mean=20.3ms, total=6.09s, count=300, min=13.4ms, max=48.5ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.7ms, max=4029.7ms + task_sampling: mean=406.9ms, total=406.9ms, count=1, min=406.9ms, max=406.9ms + task_specific_sample: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=540.9us, 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 01:58:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 01:58:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 01:58:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:58:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 01:58:31 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 01:58:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 01:58:31 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 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029288m [env.py: 870] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 01:58:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94924802 0.76423917 0.02928831] yaw=-150.4deg [env.py: 1019] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66734474 0.47914572 0.02928831] yaw=169.0deg [env.py: 1019] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 01:58:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.5ms, total=145.6ms [env.py: 1075] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.764, 0.029) [env.py: 1079] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.4 deg [env.py: 1082] +05/11 01:58:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 01:58:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 01:58:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 01:58:32 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 01:58:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 01:58:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:58:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:58:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 01:58:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:58:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.394[m] 93.144[deg] [grasp_sample.py: 539] +05/11 01:58:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:58:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:58:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:58:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:58:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:58:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:58:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:58:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 01:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 01:59:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 01:59:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:59:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:59:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:59:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 01:59:13 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.372s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:59:13 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.160[deg] [grasp_sample.py: 539] +05/11 01:59:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:59:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:59:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:59:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 01:59:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 01:59:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 01:59:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 01:59:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 01:59:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.396s, found feasible grasp: True [grasp_sample.py: 500] +05/11 01:59:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.593[deg] [grasp_sample.py: 539] +05/11 01:59:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 01:59:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 01:59:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:59:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 01:59:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 01:59:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_7/chunk_013/shard_1_of_4.log b/fridge_7/chunk_013/shard_1_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..361745532e96a2962bd1ce816a3cea610fc96df7 --- /dev/null +++ b/fridge_7/chunk_013/shard_1_of_4.log @@ -0,0 +1,1159 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_013 + shard=1/4 seed=21301 samples=3 + CUDA_VISIBLE_DEVICES=0 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:31:28 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 01:31:28 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 01:31:28 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_013'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 01:31:28 INFO pipeline.py:1367] {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_7', + 'seed': 21301, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:31:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/11 01:31:28 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 01:31:28 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 126371612894608 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 126371612894608 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 126371612894608 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 126371612894608 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 126371620617808 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 126371620617808 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 126371620604624 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 126371620604624 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 126371620604624 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 126371620604624 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 126371620617808 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 126371620617808 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 126371618091344 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 126371618091344 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 126371618079248 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 126371618079248 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 126371618079248 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 126371618079248 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 126371618091344 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 126371618091344 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 01:31:28 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 01:31:31 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 01:31:31 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 01:31:31 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:31:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) +[05/11 01:31:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:31:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:31:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079492m +[05/11 01:31:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:31:32 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 01:31:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94466076 1.24345228 0.07949187] yaw=-127.7deg +[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:31:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=14.4ms, retries=281.7ms, total=296.2ms +[05/11 01:31:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.945, 1.243, 0.079) +[05/11 01:31:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.7 deg +[05/11 01:31:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.074m +[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:31:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:31:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 01:32:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.996s +[05/11 01:32:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:32:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:32:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.108s, found 88 non-colliding grasps +[05/11 01:32:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.628s, found feasible grasp: False +[05/11 01:32:04 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: No feasible grasp found +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses + grasp_pose_world = compute_grasp_pose( + ^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose + raise ValueError("No feasible grasp found") +ValueError: No feasible grasp found +[05/11 01:32:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:32:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:32:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:32:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:32:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:32:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:32:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:32:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:32:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:32:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:32:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) +[05/11 01:32:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:32:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:32:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010278m +[05/11 01:32:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:32:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:32:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:32:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 156.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:32:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:32:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:32:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:32:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95346817 0.76576416 0.01027799] yaw=-155.5deg +[05/11 01:32:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:32:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61373926 0.51464779 0.01027799] yaw=-186.5deg +[05/11 01:32:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:32:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:32:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.9ms, total=190.9ms +[05/11 01:32:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.766, 0.010) +[05/11 01:32:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg +[05/11 01:32:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.801m +[05/11 01:32:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:32:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:32:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:32:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:32:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:32:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 01:32:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s +[05/11 01:32:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:32:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:32:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 01:32:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.108s, found feasible grasp: True +[05/11 01:32:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.372[m] 92.895[deg] +[05/11 01:32:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:32:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:33:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:34:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 01:35:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:35:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 01:35:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps +[05/11 01:35:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 01:35:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:35:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.94s (batch: 4.59s, save: 9.35s) +[05/11 01:35:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.85s: + episode_total: mean=118.72s, total=237.44s, count=2, min=36175.7ms, max=201266.7ms + sensor_polling: mean=515.1ms, total=152.99s, count=297, min=447.7ms, max=747.4ms + save_trajectories: mean=9.35s, total=9.35s, count=1, min=9352.8ms, max=9352.8ms + physics_step: mean=25.8ms, total=7.65s, count=297, min=15.7ms, max=134.4ms + task_sampling: mean=2.43s, total=4.85s, count=2, min=446.6ms, max=4407.1ms + save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4586.3ms, max=4586.3ms + scene_load: mean=3.65s, total=3.65s, count=1, min=3648.5ms, max=3648.5ms + scene_env_create: mean=2.38s, total=2.38s, count=1, min=2379.9ms, max=2379.9ms + task_specific_sample: mean=598.9ms, total=1.20s, count=2, min=442.7ms, max=755.1ms + scene_compile: mean=1.15s, total=1.15s, count=1, min=1152.5ms, max=1152.5ms + compile_mujoco: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms + compile_xml_load: mean=417.3ms, total=417.3ms, count=1, min=417.3ms, max=417.3ms + scene_init: mean=73.7ms, total=73.7ms, count=1, min=73.7ms, max=73.7ms + compile_aux_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + compile_aux_policy_objects: mean=44.0ms, total=44.0ms, count=1, min=44.0ms, max=44.0ms + scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms + asset_install_grasps: mean=30.0ms, total=30.0ms, count=1, min=30.0ms, max=30.0ms + compile_robot_add: mean=18.8ms, total=18.8ms, count=1, min=18.8ms, max=18.8ms + asset_install_objects: mean=9.2ms, total=9.2ms, count=1, min=9.2ms, max=9.2ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.3ms, max=2.4ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=514.5us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=37.3us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:35:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:35:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:35:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:35:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:35:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:35:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:35:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:35:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:35:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:35:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:35:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) +[05/11 01:35:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:35:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:35:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037574m +[05/11 01:35:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:35:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:35:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:35:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69249484 0.76433619 0.03757412] yaw=-169.9deg +[05/11 01:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91685599 1.1151431 0.03757412] yaw=-147.9deg +[05/11 01:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:35:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72237891 0.18693578 0.03757412] yaw=172.1deg +[05/11 01:35:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:35:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:35:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.9ms, total=108.9ms +[05/11 01:35:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.764, 0.038) +[05/11 01:35:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg +[05/11 01:35:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.049m +[05/11 01:35:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:35:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:35:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:35:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:35:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:35:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 01:35:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s +[05/11 01:35:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:35:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:35:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 01:35:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.731s, found feasible grasp: True +[05/11 01:35:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.635[m] 97.223[deg] +[05/11 01:35:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:36:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:36:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:36:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:38:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True +[05/11 01:38:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:38:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 01:38:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:38:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:38:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:38:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.02s (batch: 4.41s, save: 8.61s) +[05/11 01:38:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.38s: + episode_total: mean=193.56s, total=193.56s, count=1, min=193562.3ms, max=193562.3ms + sensor_polling: mean=486.8ms, total=146.05s, count=300, min=437.7ms, max=654.5ms + save_trajectories: mean=8.61s, total=8.61s, count=1, min=8610.1ms, max=8610.1ms + physics_step: mean=22.5ms, total=6.76s, count=300, min=15.8ms, max=33.8ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4406.2ms, max=4406.2ms + task_sampling: mean=376.1ms, total=376.1ms, count=1, min=376.1ms, max=376.1ms + task_specific_sample: mean=372.4ms, total=372.4ms, count=1, min=372.4ms, max=372.4ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:38:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:38:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:38:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:38:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:38:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:38:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:38:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:38:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:38:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:38:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:38:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m) +[05/11 01:38:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:38:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:38:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059563m +[05/11 01:38:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:38:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:38:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:38:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00665645 0.12652272 0.05956302] yaw=160.7deg +[05/11 01:38:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:38:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:38:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86614407 1.13379898 0.05956302] yaw=-142.8deg +[05/11 01:38:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:38:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:38:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95791409 0.1044396 0.05956302] yaw=149.5deg +[05/11 01:38:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:38:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:38:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.1ms, total=125.1ms +[05/11 01:38:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.007, 0.127, 0.060) +[05/11 01:38:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg +[05/11 01:38:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.781m +[05/11 01:38:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:38:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:38:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:38:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:38:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:38:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/11 01:38:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s +[05/11 01:38:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:38:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:38:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 01:38:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True +[05/11 01:38:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.346[m] 90.367[deg] +[05/11 01:38:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:38:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:38:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:39:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:39:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:40:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:40:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:40:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:40:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:40:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:40:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:40:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:40:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:40:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:40:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:40:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:40:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:40:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:40:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:40:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:40:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:40:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps +[05/11 01:40:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.469s, found feasible grasp: True +[05/11 01:40:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.048[m] 0.492[deg] +[05/11 01:40:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:41:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:41:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:41:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:41:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:41:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 01:41:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:41:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:41:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 70 non-colliding grasps +[05/11 01:41:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 2.990s, found feasible grasp: True +[05/11 01:41:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.279[deg] +[05/11 01:41:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:41:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:41:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:41:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:41:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:42:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/11 01:42:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:42:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 01:42:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:42:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:42:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:42:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.32s (batch: 5.33s, save: 8.98s) +[05/11 01:42:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.42s: + episode_total: mean=237.33s, total=237.33s, count=1, min=237329.7ms, max=237329.7ms + sensor_polling: mean=485.7ms, total=145.70s, count=300, min=459.6ms, max=677.9ms + save_trajectories: mean=8.98s, total=8.98s, count=1, min=8982.1ms, max=8982.1ms + physics_step: mean=23.2ms, total=6.96s, count=300, min=14.7ms, max=61.7ms + save_batch_prep: mean=5.33s, total=5.33s, count=1, min=5333.9ms, max=5333.9ms + task_sampling: mean=416.0ms, total=416.0ms, count=1, min=416.0ms, max=416.0ms + task_specific_sample: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=394.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:42:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:42:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:42:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:42:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:42:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:42:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:42:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:42:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:42:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:42:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:42:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) +[05/11 01:42:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:42:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:42:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010254m +[05/11 01:42:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:42:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:42:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:42:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:42:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:42:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:42:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:42:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97492154 0.11714843 0.01025359] yaw=149.1deg +[05/11 01:42:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:42:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87571417 0.68354527 0.01025359] yaw=-160.4deg +[05/11 01:42:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:42:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00880394 0.10528263 0.01025359] yaw=159.8deg +[05/11 01:42:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:42:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:42:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=310.9ms, total=310.9ms +[05/11 01:42:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.117, 0.010) +[05/11 01:42:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 149.1 deg +[05/11 01:42:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m +[05/11 01:42:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:42:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:42:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:42:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:42:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:42:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/11 01:42:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s +[05/11 01:42:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:42:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:42:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 01:42:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True +[05/11 01:42:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.357[m] 88.532[deg] +[05/11 01:42:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:42:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:42:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:43:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:43:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:43:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:44:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:44:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:44:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:44:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:44:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:44:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps +[05/11 01:44:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True +[05/11 01:44:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.730[deg] +[05/11 01:44:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:44:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:44:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:45:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:45:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:45:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:45:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:45:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:45:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:45:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:45:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:45:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:45:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:45:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 01:45:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:45:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:45:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps +[05/11 01:45:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.510s, found feasible grasp: True +[05/11 01:45:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.942[deg] +[05/11 01:45:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:45:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:45:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:45:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:45:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True +[05/11 01:46:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:46:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 01:46:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:46:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:46:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:46:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.31s (batch: 4.45s, save: 8.86s) +[05/11 01:46:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.59s: + episode_total: mean=227.52s, total=227.52s, count=1, min=227520.4ms, max=227520.4ms + sensor_polling: mean=502.1ms, total=150.64s, count=300, min=463.4ms, max=724.8ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8859.8ms, max=8859.8ms + physics_step: mean=22.9ms, total=6.88s, count=300, min=15.1ms, max=64.3ms + save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4452.3ms, max=4452.3ms + task_sampling: mean=591.8ms, total=591.8ms, count=1, min=591.8ms, max=591.8ms + task_specific_sample: mean=588.0ms, total=588.0ms, count=1, min=588.0ms, max=588.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=446.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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 +[05/11 01:46:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:46:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:46:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:46:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:46:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:46:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:46:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:46:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:46:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:46:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:46:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) +[05/11 01:46:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:46:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:46:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087411m +[05/11 01:46:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:46:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:46:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:46:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:46:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0889816 1.13404858 0.08741101] yaw=-134.5deg +[05/11 01:46:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:46:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77037237 0.49990515 0.08741101] yaw=-187.3deg +[05/11 01:46:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:46:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72796429 0.44351872 0.08741101] yaw=177.1deg +[05/11 01:46:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:46:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:46:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.5ms, total=105.6ms +[05/11 01:46:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.089, 1.134, 0.087) +[05/11 01:46:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg +[05/11 01:46:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.895m +[05/11 01:46:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:46:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:46:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:46:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:46:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:46:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 01:46:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s +[05/11 01:46:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:46:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:46:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps +[05/11 01:46:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.598s, found feasible grasp: True +[05/11 01:46:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.468[m] 87.636[deg] +[05/11 01:46:36 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:46:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:46:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:46:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:46:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:46:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:46:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:46:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:46:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:46:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:46:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:46:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) +[05/11 01:46:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:46:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:46:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081088m +[05/11 01:46:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:46:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:46:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:46:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90936579 0.31391192 0.08108846] yaw=177.3deg +[05/11 01:46:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:46:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:46:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:46:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:46:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94715813 1.00139768 0.08108846] yaw=-145.1deg +[05/11 01:46:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:46:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78068422 0.14210473 0.08108846] yaw=167.6deg +[05/11 01:46:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:46:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:46:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.4ms, total=196.4ms +[05/11 01:46:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.314, 0.081) +[05/11 01:46:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg +[05/11 01:46:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.811m +[05/11 01:46:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:46:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:46:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:46:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:46:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:46:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 01:46:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s +[05/11 01:46:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:46:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:46:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps +[05/11 01:46:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True +[05/11 01:46:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.367[m] 88.450[deg] +[05/11 01:46:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:46:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:46:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:47:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:47:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:48:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:48:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:48:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:48:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:48:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:48:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:48:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:48:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:48:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:48:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:48:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps +[05/11 01:48:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.353s, found feasible grasp: True +[05/11 01:48:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg] +[05/11 01:48:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:48:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:48:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:48:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:48:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:48:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:48:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:48:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:48:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:48:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:48:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:48:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) +[05/11 01:48:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:48:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:48:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041107m +[05/11 01:48:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:48:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:48:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:48:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:48:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:48:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:48:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:48:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:48:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7540735 0.86778566 0.04110691] yaw=-167.5deg +[05/11 01:48:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:48:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6618206 0.76808687 0.04110691] yaw=-164.6deg +[05/11 01:48:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:48:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:48:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=343.7ms, total=343.7ms +[05/11 01:48:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.868, 0.041) +[05/11 01:48:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg +[05/11 01:48:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.024m +[05/11 01:48:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:48:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:48:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:48:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:48:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:48:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 01:48:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.065s +[05/11 01:48:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:48:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:48:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps +[05/11 01:48:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.709s, found feasible grasp: True +[05/11 01:48:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.576[m] 81.961[deg] +[05/11 01:48:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:48:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:48:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:49:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:49:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:49:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:51:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True +[05/11 01:51:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:51:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 01:51:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:51:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:51:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:51:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.51s (batch: 4.06s, save: 8.46s) +[05/11 01:51:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.55s: + episode_total: mean=107.52s, total=322.55s, count=3, min=3195.6ms, max=202707.3ms + sensor_polling: mean=513.3ms, total=246.36s, count=480, min=434.0ms, max=942.3ms + physics_step: mean=25.9ms, total=12.44s, count=480, min=15.3ms, max=92.6ms + save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.8ms, max=8455.8ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.5ms, max=4058.5ms + task_sampling: mean=515.3ms, total=1.55s, count=3, min=404.8ms, max=683.9ms + task_specific_sample: mean=511.8ms, total=1.54s, count=3, min=400.6ms, max=680.6ms + scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.2ms, max=2.9ms + mj_forward_sync: mean=488.3us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=19.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms +[05/11 01:52:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:52:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:52:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:52:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:52:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:52:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:52:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:52:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:52:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:52:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:52:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m) +[05/11 01:52:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:52:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:52:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026012m +[05/11 01:52:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:52:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:52:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:52:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83272999 0.14457834 0.02601164] yaw=170.0deg +[05/11 01:52:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:52:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:52:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:52:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92951344 0.41597284 0.02601164] yaw=181.2deg +[05/11 01:52:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:52:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:52:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00220265 0.78996325 0.02601164] yaw=-152.5deg +[05/11 01:52:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:52:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:52:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=440.8ms, total=440.8ms +[05/11 01:52:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.145, 0.026) +[05/11 01:52:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg +[05/11 01:52:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.933m +[05/11 01:52:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:52:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:52:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:52:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:52:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:52:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 01:52:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.151s +[05/11 01:52:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:52:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:52:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.101s, found 88 non-colliding grasps +[05/11 01:52:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.217s, found feasible grasp: True +[05/11 01:52:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.503[m] 87.087[deg] +[05/11 01:52:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:52:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:52:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:52:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:53:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:53:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:54:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:54:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:54:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:54:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:54:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps +[05/11 01:54:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True +[05/11 01:54:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.719[deg] +[05/11 01:54:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:54:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:54:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True +[05/11 01:55:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:55:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 01:55:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:55:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:55:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:55:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.09s (batch: 5.04s, save: 10.05s) +[05/11 01:55:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.82s: + episode_total: mean=204.45s, total=204.45s, count=1, min=204447.1ms, max=204447.1ms + sensor_polling: mean=460.3ms, total=138.08s, count=300, min=390.0ms, max=774.5ms + save_trajectories: mean=10.05s, total=10.05s, count=1, min=10047.0ms, max=10047.0ms + physics_step: mean=21.8ms, total=6.53s, count=300, min=16.7ms, max=74.2ms + save_batch_prep: mean=5.04s, total=5.04s, count=1, min=5044.3ms, max=5044.3ms + task_sampling: mean=824.6ms, total=824.6ms, count=1, min=824.6ms, max=824.6ms + task_specific_sample: mean=820.4ms, total=820.4ms, count=1, min=820.4ms, max=820.4ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=549.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:55:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:55:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:55:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:55:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:55:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:55:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:55:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:55:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:55:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:55:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:55:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) +[05/11 01:55:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:55:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:55:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045787m +[05/11 01:55:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:55:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:55:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:55:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:55:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:55:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85177344 0.80161985 0.04578702] yaw=-148.3deg +[05/11 01:55:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:55:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82275171 0.34723991 0.04578702] yaw=176.9deg +[05/11 01:55:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:55:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:55:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:55:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.6ms, total=154.7ms +[05/11 01:55:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.802, 0.046) +[05/11 01:55:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.3 deg +[05/11 01:55:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.909m +[05/11 01:55:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:55:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:55:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:55:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:55:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:55:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/11 01:55:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/11 01:55:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:55:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:55:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 01:55:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True +[05/11 01:55:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.498[m] 91.899[deg] +[05/11 01:55:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:55:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:55:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:56:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:56:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:56:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:57:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True +[05/11 01:58:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:58:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 1/4: 1 episodes +[05/11 01:58:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:58:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:58:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:58:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.07s (batch: 4.03s, save: 11.04s) +[05/11 01:58:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s: + episode_total: mean=183.47s, total=183.47s, count=1, min=183465.1ms, max=183465.1ms + sensor_polling: mean=449.5ms, total=134.84s, count=300, min=382.1ms, max=786.9ms + save_trajectories: mean=11.04s, total=11.04s, count=1, min=11037.8ms, max=11037.8ms + physics_step: mean=20.3ms, total=6.09s, count=300, min=13.4ms, max=48.5ms + save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.7ms, max=4029.7ms + task_sampling: mean=406.9ms, total=406.9ms, count=1, min=406.9ms, max=406.9ms + task_specific_sample: mean=402.8ms, total=402.8ms, count=1, min=402.8ms, max=402.8ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=540.9us, 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 +[05/11 01:58:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:58:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:58:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:58:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:58:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:58:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:58:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:58:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:58:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:58:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:58:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) +[05/11 01:58:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:58:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:58:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029288m +[05/11 01:58:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:58:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:58:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:58:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:58:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:58:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94924802 0.76423917 0.02928831] yaw=-150.4deg +[05/11 01:58:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:58:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66734474 0.47914572 0.02928831] yaw=169.0deg +[05/11 01:58:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:58:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:58:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:58:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.5ms, total=145.6ms +[05/11 01:58:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.764, 0.029) +[05/11 01:58:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.4 deg +[05/11 01:58:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m +[05/11 01:58:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:58:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:58:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:58:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:58:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:58:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 01:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s +[05/11 01:58:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:58:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:58:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:58:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True +[05/11 01:58:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.394[m] 93.144[deg] +[05/11 01:58:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:58:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:58:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:59:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:59:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:59:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift diff --git a/fridge_7/chunk_013/shard_2_of_4.log b/fridge_7/chunk_013/shard_2_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..e04bfa097b41f8f0bdf06b49dd670e5a34b95fe0 --- /dev/null +++ b/fridge_7/chunk_013/shard_2_of_4.log @@ -0,0 +1,1079 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_013 + shard=2/4 seed=21302 samples=3 + CUDA_VISIBLE_DEVICES=1 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:31:29 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 01:31:29 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 01:31:29 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_013'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 01:31:29 INFO pipeline.py:1367] {'batch_num': 2, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_7', + 'seed': 21302, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:31:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/11 01:31:29 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 01:31:29 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 127274090341712 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 127274090341712 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 127274090341712 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 127274090341712 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 127274096736976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127274096736976 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 127274096737744 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127274096737744 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 127274096737744 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127274096737744 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 127274096736976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127274096736976 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 127274090368144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127274090368144 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 127274090370832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127274090370832 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 127274090370832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127274090370832 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 127274090368144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127274090368144 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 01:31:29 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 01:31:31 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 01:31:31 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:31:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) +[05/11 01:31:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:31:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:31:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081018m +[05/11 01:31:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:31:32 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 01:31:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94097666 0.20912728 0.08101815] yaw=158.0deg +[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78488079 0.9359038 0.08101815] yaw=-144.6deg +[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01091474 0.15636647 0.08101815] yaw=152.9deg +[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:31:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:31:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=24.4ms, retries=393.1ms, total=417.5ms +[05/11 01:31:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.209, 0.081) +[05/11 01:31:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.0 deg +[05/11 01:31:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.809m +[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:31:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:31:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 01:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.511s +[05/11 01:32:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:32:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:32:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps +[05/11 01:32:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.632s, found feasible grasp: True +[05/11 01:32:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.346[m] 84.768[deg] +[05/11 01:32:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:32:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:33:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:33:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:33:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:33:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:33:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:33:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:33:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:33:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:33:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:33:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:33:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:33:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:33:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps +[05/11 01:33:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.415s, found feasible grasp: True +[05/11 01:33:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.595[deg] +[05/11 01:33:57 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:33:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:33:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:33:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:33:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:33:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:33:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:33:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:33:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:33:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:33:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:33:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) +[05/11 01:33:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:33:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:33:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010639m +[05/11 01:33:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:33:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:33:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66648087 0.81771899 0.01063919] yaw=-155.5deg +[05/11 01:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:33:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72922579 0.22027566 0.01063919] yaw=175.8deg +[05/11 01:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:33:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76402374 0.87655768 0.01063919] yaw=-149.7deg +[05/11 01:33:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:33:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:33:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.8ms, total=180.8ms +[05/11 01:33:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.666, 0.818, 0.011) +[05/11 01:33:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.5 deg +[05/11 01:33:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.089m +[05/11 01:33:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:33:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:33:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:33:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:33:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:33:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 01:33:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s +[05/11 01:33:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:33:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:33:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps +[05/11 01:34:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.667s, found feasible grasp: True +[05/11 01:34:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.631[m] 85.171[deg] +[05/11 01:34:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:35:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:35:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:35:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:36:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 01:37:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:37:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 01:37:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:37:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 01:37:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:37:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.46s (batch: 4.46s, save: 9.00s) +[05/11 01:37:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.20s: + episode_total: mean=171.78s, total=343.55s, count=2, min=148352.9ms, max=195199.2ms + sensor_polling: mean=506.4ms, total=239.01s, count=472, min=421.5ms, max=871.1ms + physics_step: mean=24.6ms, total=11.63s, count=472, min=17.2ms, max=65.6ms + save_trajectories: mean=9.00s, total=9.00s, count=1, min=9000.2ms, max=9000.2ms + save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4458.5ms, max=4458.5ms + task_sampling: mean=2.10s, total=4.20s, count=2, min=442.8ms, max=3759.5ms + scene_load: mean=2.96s, total=2.96s, count=1, min=2963.3ms, max=2963.3ms + scene_env_create: mean=1.99s, total=1.99s, count=1, min=1994.5ms, max=1994.5ms + task_specific_sample: mean=616.4ms, total=1.23s, count=2, min=440.0ms, max=792.9ms + scene_compile: mean=802.8ms, total=802.8ms, count=1, min=802.8ms, max=802.8ms + compile_mujoco: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms + compile_xml_load: mean=151.7ms, total=151.7ms, count=1, min=151.7ms, max=151.7ms + scene_asset_install: mean=94.6ms, total=94.6ms, count=1, min=94.6ms, max=94.6ms + scene_init: mean=71.1ms, total=71.1ms, count=1, min=71.1ms, max=71.1ms + asset_install_grasps: mean=63.7ms, total=63.7ms, count=1, min=63.7ms, max=63.7ms + compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + asset_install_objects: mean=22.5ms, total=22.5ms, count=1, min=22.5ms, max=22.5ms + asset_install_scene: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms + compile_robot_add: mean=7.0ms, total=7.0ms, count=1, min=7.0ms, max=7.0ms + scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.4ms, max=1.5ms + mj_forward_sync: mean=445.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=30.0us, 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 +[05/11 01:37:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:37:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:37:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:37:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:37:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:37:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:37:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:37:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:37:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:37:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:37:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) +[05/11 01:37:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:37:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:37:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048771m +[05/11 01:37:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:37:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:37:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:37:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:37:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:37:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96786748 1.2396158 0.04877066] yaw=-137.8deg +[05/11 01:37:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:37:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:37:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:37:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94120844 0.08156254 0.04877066] yaw=155.1deg +[05/11 01:37:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:37:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:37:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms +[05/11 01:37:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.968, 1.240, 0.049) +[05/11 01:37:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.8 deg +[05/11 01:37:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m +[05/11 01:37:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:37:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:37:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:37:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:37:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:37:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 01:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/11 01:37:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:37:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:37:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:37:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True +[05/11 01:37:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.652[m] 89.142[deg] +[05/11 01:37:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:37:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:37:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:37:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:37:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:37:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:37:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:37:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:37:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:37:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:37:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:37:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) +[05/11 01:37:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:37:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:37:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020202m +[05/11 01:37:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:37:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:37:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:37:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:37:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:37:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:37:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86381574 0.27934673 0.02020165] yaw=168.8deg +[05/11 01:37:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:37:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:37:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74006074 0.77350165 0.02020165] yaw=-159.1deg +[05/11 01:37:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:37:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:37:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.3ms, total=183.4ms +[05/11 01:37:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.279, 0.020) +[05/11 01:37:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg +[05/11 01:37:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.863m +[05/11 01:37:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:37:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:37:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:37:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:37:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:37:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/11 01:37:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s +[05/11 01:37:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:37:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:37:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:37:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True +[05/11 01:37:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.380[m] 83.610[deg] +[05/11 01:37:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:37:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:38:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:38:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:39:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:39:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:39:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:39:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:39:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:39:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:39:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:39:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:39:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:39:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps +[05/11 01:39:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.479s, found feasible grasp: True +[05/11 01:39:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.654[deg] +[05/11 01:39:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:39:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:39:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:39:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:39:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:39:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:40:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/11 01:40:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:40:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 01:40:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:40:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:40:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:40:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.12s (batch: 4.34s, save: 8.77s) +[05/11 01:40:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.90s: + episode_total: mean=101.41s, total=202.81s, count=2, min=3228.8ms, max=199582.4ms + sensor_polling: mean=479.1ms, total=143.73s, count=300, min=449.2ms, max=676.0ms + save_trajectories: mean=8.77s, total=8.77s, count=1, min=8774.3ms, max=8774.3ms + physics_step: mean=23.8ms, total=7.15s, count=300, min=15.3ms, max=68.2ms + save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.6ms, max=4344.6ms + task_sampling: mean=447.6ms, total=895.2ms, count=2, min=436.1ms, max=459.1ms + task_specific_sample: mean=444.2ms, total=888.4ms, count=2, min=433.2ms, max=455.3ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.5ms + mj_forward_sync: mean=429.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 01:40:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:40:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:40:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:40:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:40:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:40:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:40:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:40:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:40:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:40:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:40:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) +[05/11 01:40:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:40:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:40:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046409m +[05/11 01:40:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:40:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:40:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:40:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:40:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:40:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:40:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8388099 0.57420963 0.0464086 ] yaw=-180.7deg +[05/11 01:40:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:40:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85545487 0.90323514 0.0464086 ] yaw=-159.0deg +[05/11 01:40:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:40:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93814788 0.49113463 0.0464086 ] yaw=-183.3deg +[05/11 01:40:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:40:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:40:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.5ms +[05/11 01:40:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.574, 0.046) +[05/11 01:40:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.7 deg +[05/11 01:40:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.868m +[05/11 01:40:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:40:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:40:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:40:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:40:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:40:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/11 01:40:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s +[05/11 01:40:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:40:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:40:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps +[05/11 01:40:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.486s, found feasible grasp: True +[05/11 01:40:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.391[m] 87.086[deg] +[05/11 01:40:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:40:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:40:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:41:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:41:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:43:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True +[05/11 01:43:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:43:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 01:43:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps +[05/11 01:43:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:43:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:43:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.36s (batch: 4.56s, save: 8.80s) +[05/11 01:43:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.54s: + episode_total: mean=196.93s, total=196.93s, count=1, min=196932.8ms, max=196932.8ms + sensor_polling: mean=492.3ms, total=147.20s, count=299, min=449.7ms, max=727.0ms + save_trajectories: mean=8.80s, total=8.80s, count=1, min=8803.3ms, max=8803.3ms + physics_step: mean=24.8ms, total=7.42s, count=299, min=15.7ms, max=39.3ms + save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4558.8ms, max=4558.8ms + task_sampling: mean=542.2ms, total=542.2ms, count=1, min=542.2ms, max=542.2ms + task_specific_sample: mean=538.3ms, total=538.3ms, count=1, min=538.3ms, max=538.3ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=457.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:44:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:44:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:44:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:44:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:44:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:44:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:44:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:44:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:44:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:44:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:44:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) +[05/11 01:44:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:44:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:44:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007125m +[05/11 01:44:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:44:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:44:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:44:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0202967 0.92570172 0.00712482] yaw=-149.0deg +[05/11 01:44:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:44:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9016868 0.26392259 0.00712482] yaw=169.2deg +[05/11 01:44:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:44:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:44:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89914471 0.05612978 0.00712482] yaw=162.7deg +[05/11 01:44:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:44:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:44:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms +[05/11 01:44:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.926, 0.007) +[05/11 01:44:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg +[05/11 01:44:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m +[05/11 01:44:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:44:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:44:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:44:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:44:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:44:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 01:44:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s +[05/11 01:44:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:44:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:44:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps +[05/11 01:44:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True +[05/11 01:44:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.412[m] 96.168[deg] +[05/11 01:44:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:44:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:44:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:44:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:46:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True +[05/11 01:46:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:46:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 01:46:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:47:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:47:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:47:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 15.53s (batch: 4.59s, save: 10.95s) +[05/11 01:47:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.41s: + episode_total: mean=192.32s, total=192.32s, count=1, min=192316.3ms, max=192316.3ms + sensor_polling: mean=483.1ms, total=144.94s, count=300, min=447.7ms, max=736.6ms + save_trajectories: mean=10.95s, total=10.95s, count=1, min=10945.9ms, max=10945.9ms + physics_step: mean=22.7ms, total=6.81s, count=300, min=16.7ms, max=33.5ms + save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.7ms, max=4587.7ms + task_sampling: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms + task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms + scene_randomize: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms + mj_forward_sync: mean=501.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=35.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:47:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:47:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:47:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:47:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:47:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:47:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:47:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:47:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:47:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:47:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:47:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m) +[05/11 01:47:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:47:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:47:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016013m +[05/11 01:47:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:47:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:47:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7508625 0.28743108 0.01601278] yaw=170.1deg +[05/11 01:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:47:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:47:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88813852 0.65228248 0.01601278] yaw=-169.2deg +[05/11 01:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:47:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.926092 0.1978525 0.01601278] yaw=169.3deg +[05/11 01:47:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:47:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:47:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.5ms, total=117.5ms +[05/11 01:47:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.287, 0.016) +[05/11 01:47:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg +[05/11 01:47:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.971m +[05/11 01:47:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:47:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:47:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:47:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:47:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:47:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 01:47:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.106s +[05/11 01:47:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:47:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:47:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 01:47:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True +[05/11 01:47:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.524[m] 89.404[deg] +[05/11 01:47:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:48:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:48:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:48:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:50:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True +[05/11 01:50:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:50:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 01:50:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:50:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:50:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:50:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.66s (batch: 4.28s, save: 10.38s) +[05/11 01:50:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.45s: + episode_total: mean=220.66s, total=220.66s, count=1, min=220657.7ms, max=220657.7ms + sensor_polling: mean=529.9ms, total=158.96s, count=300, min=435.5ms, max=946.3ms + save_trajectories: mean=10.38s, total=10.38s, count=1, min=10377.3ms, max=10377.3ms + physics_step: mean=26.9ms, total=8.08s, count=300, min=18.3ms, max=97.7ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4278.1ms, max=4278.1ms + task_sampling: mean=446.2ms, total=446.2ms, count=1, min=446.2ms, max=446.2ms + task_specific_sample: mean=441.3ms, total=441.3ms, count=1, min=441.3ms, max=441.3ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=612.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=29.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:50:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:50:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:50:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:50:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:50:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:50:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:50:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:50:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:50:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:50:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:50:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m) +[05/11 01:50:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:50:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:50:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077561m +[05/11 01:50:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:50:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:50:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:50:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:50:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69320892 0.81309939 0.07756099] yaw=-152.9deg +[05/11 01:50:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:50:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:50:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:50:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99189788 0.21727546 0.07756099] yaw=160.5deg +[05/11 01:50:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:50:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7083104 0.47951049 0.07756099] yaw=181.5deg +[05/11 01:50:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:50:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:50:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=505.3ms, total=505.3ms +[05/11 01:50:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.813, 0.078) +[05/11 01:50:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg +[05/11 01:50:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.062m +[05/11 01:50:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:50:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:50:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:50:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:50:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:50:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 01:50:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.131s +[05/11 01:50:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:50:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:50:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps +[05/11 01:51:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.045s, found feasible grasp: True +[05/11 01:51:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.619[m] 80.130[deg] +[05/11 01:51:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:51:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:51:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:52:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:52:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:52:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:53:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True +[05/11 01:53:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:53:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 01:53:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:53:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:53:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:53:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.66s (batch: 4.02s, save: 8.64s) +[05/11 01:54:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.82s: + episode_total: mean=182.53s, total=182.53s, count=1, min=182531.1ms, max=182531.1ms + sensor_polling: mean=449.8ms, total=134.93s, count=300, min=374.1ms, max=726.3ms + save_trajectories: mean=8.64s, total=8.64s, count=1, min=8644.7ms, max=8644.7ms + physics_step: mean=20.5ms, total=6.15s, count=300, min=16.7ms, max=50.6ms + save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4018.3ms, max=4018.3ms + task_sampling: mean=824.0ms, total=824.0ms, count=1, min=824.0ms, max=824.0ms + task_specific_sample: mean=815.1ms, total=815.1ms, count=1, min=815.1ms, max=815.1ms + scene_randomize: mean=7.3ms, total=7.3ms, count=1, min=7.3ms, max=7.3ms + mj_forward_sync: mean=636.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=33.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:54:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:54:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:54:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:54:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:54:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:54:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:54:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:54:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:54:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:54:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:54:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m) +[05/11 01:54:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:54:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:54:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058022m +[05/11 01:54:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:54:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:54:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:54:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:54:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80857765 0.89300258 0.05802197] yaw=-159.9deg +[05/11 01:54:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:54:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66461089 0.47854952 0.05802197] yaw=187.6deg +[05/11 01:54:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:54:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20675719 1.10200052 0.05802197] yaw=-129.6deg +[05/11 01:54:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:54:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:54:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.7ms +[05/11 01:54:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.809, 0.893, 0.058) +[05/11 01:54:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg +[05/11 01:54:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.984m +[05/11 01:54:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:54:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:54:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:54:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:54:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:54:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 01:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.154s +[05/11 01:54:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:54:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:54:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps +[05/11 01:54:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.412s, found feasible grasp: True +[05/11 01:54:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.555[m] 74.349[deg] +[05/11 01:54:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:54:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:54:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:54:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:54:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:54:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:54:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:54:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:54:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:54:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:54:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:54:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) +[05/11 01:54:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:54:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:54:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007955m +[05/11 01:54:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:54:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:54:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:54:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93855901 0.9035202 0.00795479] yaw=-148.1deg +[05/11 01:54:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:54:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:54:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:54:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:54:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7447752 0.67854128 0.00795479] yaw=-167.6deg +[05/11 01:54:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:54:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64676416 0.32068643 0.00795479] yaw=166.6deg +[05/11 01:54:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:54:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:54:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.7ms, total=177.8ms +[05/11 01:54:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.904, 0.008) +[05/11 01:54:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg +[05/11 01:54:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.872m +[05/11 01:54:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:54:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:54:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:54:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:54:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:54:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/11 01:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s +[05/11 01:54:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:54:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:54:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 01:54:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True +[05/11 01:54:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.470[m] 96.112[deg] +[05/11 01:54:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:54:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:54:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:54:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:55:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:55:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:56:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True +[05/11 01:56:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:56:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 2/4: 1 episodes +[05/11 01:56:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:57:08 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:57:08 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:57:08 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.01s (batch: 3.78s, save: 8.23s) +[05/11 01:57:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.87s: + episode_total: mean=92.60s, total=185.19s, count=2, min=8247.1ms, max=176947.7ms + sensor_polling: mean=442.9ms, total=132.88s, count=300, min=380.0ms, max=720.8ms + save_trajectories: mean=8.23s, total=8.23s, count=1, min=8229.6ms, max=8229.6ms + physics_step: mean=20.5ms, total=6.15s, count=300, min=14.3ms, max=52.0ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3784.8ms, max=3784.8ms + task_sampling: mean=435.2ms, total=870.4ms, count=2, min=399.7ms, max=470.6ms + task_specific_sample: mean=431.5ms, total=863.0ms, count=2, min=396.6ms, max=466.5ms + scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms + mj_forward_sync: mean=477.4us, total=1.0ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 01:57:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:57:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:57:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:57:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:57:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:57:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:57:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m) +[05/11 01:57:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:57:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:57:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085128m +[05/11 01:57:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:57:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:57:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78993468 1.03177546 0.08512784] yaw=-137.9deg +[05/11 01:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86007157 0.9490361 0.08512784] yaw=-151.4deg +[05/11 01:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9399273 0.84934148 0.08512784] yaw=-145.6deg +[05/11 01:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:57:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:57:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.7ms, total=137.7ms +[05/11 01:57:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.790, 1.032, 0.085) +[05/11 01:57:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg +[05/11 01:57:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.065m +[05/11 01:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:57:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:57:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 01:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.110s +[05/11 01:57:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:57:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:57:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps +[05/11 01:57:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.408s, found feasible grasp: True +[05/11 01:57:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.668[m] 89.271[deg] +[05/11 01:57:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:57:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:57:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:58:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:58:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:58:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000 +[05/11 01:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:59:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:59:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:59:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps +[05/11 01:59:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.396s, found feasible grasp: True +[05/11 01:59:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.593[deg] +[05/11 01:59:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:59:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:59:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp diff --git a/fridge_7/chunk_013/shard_3_of_4.log b/fridge_7/chunk_013/shard_3_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..20e8e4296436c731ee34686259876d3f5778c9b7 --- /dev/null +++ b/fridge_7/chunk_013/shard_3_of_4.log @@ -0,0 +1,1197 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_013 + shard=3/4 seed=21303 samples=3 + CUDA_VISIBLE_DEVICES=2 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:31:28 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 01:31:28 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 01:31:28 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_013'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 01:31:28 INFO pipeline.py:1367] {'batch_num': 3, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_7', + 'seed': 21303, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:31:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/11 01:31:28 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 01:31:28 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 124028098224592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 124028098224592 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 124028098224592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 124028098224592 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 124028096560144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 124028096560144 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 124028096545872 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 124028096545872 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 124028096545872 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 124028096545872 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 124028096560144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 124028096560144 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 124028102066320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 124028102066320 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 124028102069008 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 124028102069008 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 124028102069008 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 124028102069008 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 124028102066320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 124028102066320 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 01:31:29 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 01:31:32 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:31:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m) +[05/11 01:31:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:31:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:31:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036991m +[05/11 01:31:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:31:32 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 01:31:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87658824 0.94301909 0.03699079] yaw=-145.2deg +[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:31:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.60928348 0.46715654 0.03699079] yaw=189.8deg +[05/11 01:31:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:31:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:31:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=70.9ms, retries=299.9ms, total=370.9ms +[05/11 01:31:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.943, 0.037) +[05/11 01:31:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg +[05/11 01:31:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.946m +[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:31:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:31:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 01:32:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.291s +[05/11 01:32:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:32:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:32:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 01:32:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.103s, found feasible grasp: True +[05/11 01:32:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.500[m] 83.451[deg] +[05/11 01:32:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:33:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:33:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:34:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 01:35:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:35:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 01:35:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:35:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 01:35:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:35:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.74s (batch: 5.21s, save: 8.54s) +[05/11 01:35:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.32s: + episode_total: mean=236.32s, total=236.32s, count=1, min=236323.7ms, max=236323.7ms + sensor_polling: mean=518.3ms, total=155.50s, count=300, min=450.2ms, max=805.5ms + save_trajectories: mean=8.54s, total=8.54s, count=1, min=8536.5ms, max=8536.5ms + physics_step: mean=25.7ms, total=7.71s, count=300, min=18.2ms, max=109.4ms + save_batch_prep: mean=5.21s, total=5.21s, count=1, min=5207.7ms, max=5207.7ms + task_sampling: mean=4.32s, total=4.32s, count=1, min=4322.4ms, max=4322.4ms + scene_load: mean=3.62s, total=3.62s, count=1, min=3618.6ms, max=3618.6ms + scene_env_create: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms + scene_compile: mean=921.7ms, total=921.7ms, count=1, min=921.7ms, max=921.7ms + task_specific_sample: mean=696.1ms, total=696.1ms, count=1, min=696.1ms, max=696.1ms + compile_mujoco: mean=605.3ms, total=605.3ms, count=1, min=605.3ms, max=605.3ms + compile_xml_load: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms + scene_init: mean=197.3ms, total=197.3ms, count=1, min=197.3ms, max=197.3ms + scene_asset_install: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms + compile_aux_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + compile_aux_policy_objects: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms + asset_install_grasps: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms + asset_install_objects: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms + compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + mj_forward_sync: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + policy_setup: mean=52.9us, total=0.1ms, count=1, min=0.1ms, max=0.1ms +[05/11 01:35:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:35:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:35:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:35:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:35:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:35:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:35:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:35:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:35:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:35:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:35:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m) +[05/11 01:35:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:35:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:35:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024994m +[05/11 01:35:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:35:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:35:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:35:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:35:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1017253 1.08829437 0.02499427] yaw=-123.7deg +[05/11 01:35:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:35:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:35:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96416722 0.09796324 0.02499427] yaw=161.8deg +[05/11 01:35:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:35:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:35:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.07448418 0.90395562 0.02499427] yaw=-144.4deg +[05/11 01:35:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:35:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:35:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.5ms +[05/11 01:35:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.102, 1.088, 0.025) +[05/11 01:35:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.7 deg +[05/11 01:35:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.853m +[05/11 01:35:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:35:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:35:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:35:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:35:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:35:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 01:35:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s +[05/11 01:35:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:35:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:35:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps +[05/11 01:35:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.828s, found feasible grasp: True +[05/11 01:35:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.471[m] 102.086[deg] +[05/11 01:35:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:35:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:35:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:35:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:35:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:35:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:35:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:35:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:35:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:35:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:35:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:35:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) +[05/11 01:35:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:35:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:35:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051528m +[05/11 01:35:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:35:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:35:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:35:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:35:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:35:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03506172 0.94062126 0.05152806] yaw=-137.3deg +[05/11 01:35:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:35:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67623001 0.24465709 0.05152806] yaw=156.0deg +[05/11 01:35:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:35:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:35:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.10976061 1.00077301 0.05152806] yaw=-133.2deg +[05/11 01:35:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:35:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:35:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.4ms, total=129.4ms +[05/11 01:35:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.035, 0.941, 0.052) +[05/11 01:35:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg +[05/11 01:35:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.810m +[05/11 01:35:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:35:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:35:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:35:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:35:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:35:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 01:35:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s +[05/11 01:35:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:35:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:35:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps +[05/11 01:35:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True +[05/11 01:35:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.397[m] 95.832[deg] +[05/11 01:35:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:36:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:36:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:36:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:38:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True +[05/11 01:38:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:38:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 01:38:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:38:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:38:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:38:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.75s (batch: 4.81s, save: 8.93s) +[05/11 01:38:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.86s: + episode_total: mean=99.59s, total=199.18s, count=2, min=2479.6ms, max=196702.1ms + sensor_polling: mean=497.2ms, total=149.17s, count=300, min=443.6ms, max=662.2ms + save_trajectories: mean=8.93s, total=8.93s, count=1, min=8931.8ms, max=8931.8ms + physics_step: mean=24.2ms, total=7.27s, count=300, min=15.8ms, max=73.6ms + save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4814.2ms, max=4814.2ms + task_sampling: mean=429.2ms, total=858.5ms, count=2, min=377.9ms, max=480.5ms + task_specific_sample: mean=425.2ms, total=850.5ms, count=2, min=374.9ms, max=475.6ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.3ms, max=3.3ms + mj_forward_sync: mean=505.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 01:38:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:38:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:38:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:38:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:38:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:38:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:38:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:38:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:38:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:38:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:38:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m) +[05/11 01:38:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:38:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:38:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090418m +[05/11 01:38:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:38:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:38:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79927448 0.6537196 0.09041773] yaw=-160.4deg +[05/11 01:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04563501 0.85332866 0.09041773] yaw=-142.7deg +[05/11 01:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06372889 0.9617134 0.09041773] yaw=-144.2deg +[05/11 01:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:38:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:38:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=240.1ms, total=240.1ms +[05/11 01:38:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.799, 0.654, 0.090) +[05/11 01:38:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg +[05/11 01:38:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.919m +[05/11 01:38:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:38:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:38:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:38:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:38:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:38:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/11 01:38:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s +[05/11 01:38:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:38:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:38:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:38:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True +[05/11 01:38:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.481[m] 91.234[deg] +[05/11 01:38:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:39:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:39:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:39:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:41:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/11 01:41:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:41:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 01:41:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:41:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:41:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:41:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.93s (batch: 4.66s, save: 8.27s) +[05/11 01:41:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s: + episode_total: mean=188.36s, total=188.36s, count=1, min=188357.4ms, max=188357.4ms + sensor_polling: mean=473.7ms, total=142.12s, count=300, min=445.5ms, max=704.6ms + save_trajectories: mean=8.27s, total=8.27s, count=1, min=8267.1ms, max=8267.1ms + physics_step: mean=22.2ms, total=6.65s, count=300, min=16.7ms, max=39.7ms + save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4662.5ms, max=4662.5ms + task_sampling: mean=561.5ms, total=561.5ms, count=1, min=561.5ms, max=561.5ms + task_specific_sample: mean=557.5ms, total=557.5ms, count=1, min=557.5ms, max=557.5ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=461.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:41:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:41:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:41:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:41:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:41:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:41:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:41:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:41:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:41:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:41:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:41:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) +[05/11 01:41:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:41:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:41:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005203m +[05/11 01:41:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:41:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:41:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:41:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:41:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63217493 0.67687139 0.00520305] yaw=-170.8deg +[05/11 01:41:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:41:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:41:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:41:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81791308 0.74587446 0.00520305] yaw=-171.0deg +[05/11 01:41:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:41:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.77892566 -0.01597032 0.00520305] yaw=155.0deg +[05/11 01:41:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:41:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:41:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.5ms, total=144.6ms +[05/11 01:41:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.632, 0.677, 0.005) +[05/11 01:41:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.8 deg +[05/11 01:41:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.088m +[05/11 01:41:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:41:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:41:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:41:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:41:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:41:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/11 01:41:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s +[05/11 01:41:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:41:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:41:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:42:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True +[05/11 01:42:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.607[m] 76.441[deg] +[05/11 01:42:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:42:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:42:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:43:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:44:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True +[05/11 01:44:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:44:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 01:44:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:45:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:45:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:45:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.34s (batch: 4.78s, save: 8.56s) +[05/11 01:45:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.48s: + episode_total: mean=191.48s, total=191.48s, count=1, min=191477.9ms, max=191477.9ms + sensor_polling: mean=481.3ms, total=144.40s, count=300, min=453.9ms, max=692.7ms + save_trajectories: mean=8.56s, total=8.56s, count=1, min=8564.0ms, max=8564.0ms + physics_step: mean=21.6ms, total=6.47s, count=300, min=14.9ms, max=32.1ms + save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4776.5ms, max=4776.5ms + task_sampling: mean=477.4ms, total=477.4ms, count=1, min=477.4ms, max=477.4ms + task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=439.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:45:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:45:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:45:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:45:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:45:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:45:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:45:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:45:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:45:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:45:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:45:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) +[05/11 01:45:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:45:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:45:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099007m +[05/11 01:45:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:45:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:45:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:45:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:45:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:45:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:45:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79961582 0.50625642 0.0990071 ] yaw=-168.9deg +[05/11 01:45:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:45:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:45:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70938538 0.75528475 0.0990071 ] yaw=-175.9deg +[05/11 01:45:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:45:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98688352 0.9852422 0.0990071 ] yaw=-147.3deg +[05/11 01:45:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:45:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:45:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms +[05/11 01:45:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.506, 0.099) +[05/11 01:45:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.9 deg +[05/11 01:45:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.903m +[05/11 01:45:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:45:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:45:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:45:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:45:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:45:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 01:45:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s +[05/11 01:45:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:45:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:45:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:45:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True +[05/11 01:45:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.483[m] 92.513[deg] +[05/11 01:45:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:46:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:47:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:47:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:47:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:47:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:47:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:47:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:47:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps +[05/11 01:47:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.615s, found feasible grasp: True +[05/11 01:47:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.111[deg] +[05/11 01:47:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:47:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:47:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:47:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:47:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:47:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:47:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:47:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:48:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:48:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000 +[05/11 01:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 01:48:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:48:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:48:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps +[05/11 01:48:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.441s, found feasible grasp: True +[05/11 01:48:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.026[deg] +[05/11 01:48:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:48:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True +[05/11 01:48:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:48:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 01:48:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:49:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:49:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:49:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.85s (batch: 5.13s, save: 8.72s) +[05/11 01:49:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.48s: + episode_total: mean=231.47s, total=231.47s, count=1, min=231471.6ms, max=231471.6ms + sensor_polling: mean=507.1ms, total=152.14s, count=300, min=445.5ms, max=900.9ms + save_trajectories: mean=8.72s, total=8.72s, count=1, min=8717.6ms, max=8717.6ms + physics_step: mean=23.5ms, total=7.05s, count=300, min=13.7ms, max=64.8ms + save_batch_prep: mean=5.13s, total=5.13s, count=1, min=5129.8ms, max=5129.8ms + task_sampling: mean=483.5ms, total=483.5ms, count=1, min=483.5ms, max=483.5ms + task_specific_sample: mean=479.3ms, total=479.3ms, count=1, min=479.3ms, max=479.3ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:49:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:49:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:49:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:49:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:49:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:49:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:49:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:49:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:49:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:49:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:49:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) +[05/11 01:49:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:49:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:49:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065834m +[05/11 01:49:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:49:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:49:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:49:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:49:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:49:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:49:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:49:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:49:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98127483 1.27125665 0.06583383] yaw=-135.0deg +[05/11 01:49:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:49:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69601389 0.32374337 0.06583383] yaw=169.7deg +[05/11 01:49:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:49:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:49:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=189.9ms, total=190.0ms +[05/11 01:49:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.981, 1.271, 0.066) +[05/11 01:49:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.0 deg +[05/11 01:49:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.069m +[05/11 01:49:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:49:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:49:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:49:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:49:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:49:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 01:49:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s +[05/11 01:49:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:49:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:49:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps +[05/11 01:49:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: False +[05/11 01:49:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: No feasible grasp found +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses + grasp_pose_world = compute_grasp_pose( + ^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose + raise ValueError("No feasible grasp found") +ValueError: No feasible grasp found +[05/11 01:49:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:49:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:49:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:49:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:49:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:49:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:49:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:49:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:49:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:49:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:49:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) +[05/11 01:49:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:49:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:49:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000473m +[05/11 01:49:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:49:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:49:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:49:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-7.20458160e-01 9.41368600e-01 4.73418963e-04] yaw=-150.2deg +[05/11 01:49:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:49:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:49:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.46385339e-01 7.84785046e-01 4.73418963e-04] yaw=-167.9deg +[05/11 01:49:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:49:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:49:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:49:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-9.23934522e-01 1.75363987e-01 4.73418963e-04] yaw=157.1deg +[05/11 01:49:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:49:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:49:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=297.0ms, total=297.0ms +[05/11 01:49:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.720, 0.941, 0.000) +[05/11 01:49:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg +[05/11 01:49:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.084m +[05/11 01:49:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:49:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:49:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:49:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:49:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:49:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 01:49:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s +[05/11 01:49:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:49:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:49:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps +[05/11 01:49:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.834s, found feasible grasp: True +[05/11 01:49:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.671[m] 84.034[deg] +[05/11 01:49:14 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:49:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:49:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:49:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:49:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:49:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:49:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:49:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:49:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:49:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:49:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:49:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) +[05/11 01:49:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:49:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:49:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066478m +[05/11 01:49:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:49:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:49:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:49:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:49:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:49:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08243711 1.20809215 0.06647776] yaw=-134.1deg +[05/11 01:49:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:49:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87923246 0.62176336 0.06647776] yaw=-174.1deg +[05/11 01:49:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:49:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:49:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80276464 1.06920668 0.06647776] yaw=-147.7deg +[05/11 01:49:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:49:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:49:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=630.3ms, total=630.4ms +[05/11 01:49:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.082, 1.208, 0.066) +[05/11 01:49:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.1 deg +[05/11 01:49:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.955m +[05/11 01:49:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:49:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:49:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:49:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:49:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:49:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 01:49:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s +[05/11 01:49:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:49:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:49:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps +[05/11 01:49:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.063s, found feasible grasp: True +[05/11 01:49:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.570[m] 93.039[deg] +[05/11 01:49:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:49:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:49:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:50:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:50:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:51:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:51:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:51:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:51:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:51:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:51:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:51:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:51:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps +[05/11 01:51:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.506s, found feasible grasp: True +[05/11 01:51:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.328[deg] +[05/11 01:51:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:51:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:51:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:51:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:51:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:51:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:51:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:51:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:51:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:51:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:51:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:51:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) +[05/11 01:51:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:51:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:51:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082121m +[05/11 01:51:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:51:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:51:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:51:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:51:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:51:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:51:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:51:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04203105 1.01662989 0.08212055] yaw=-142.0deg +[05/11 01:51:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:51:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.20385246 1.04899111 0.08212055] yaw=-138.6deg +[05/11 01:51:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:51:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:51:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=261.2ms, total=261.2ms +[05/11 01:51:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.017, 0.082) +[05/11 01:51:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.0 deg +[05/11 01:51:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.850m +[05/11 01:51:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:51:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:51:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:51:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:51:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:51:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/11 01:51:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s +[05/11 01:51:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:51:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:51:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 01:51:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.830s, found feasible grasp: True +[05/11 01:51:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.404[m] 83.126[deg] +[05/11 01:51:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:51:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:51:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:52:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:52:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:53:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:53:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:54:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:54:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:54:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:54:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:54:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:54:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps +[05/11 01:54:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.490s, found feasible grasp: True +[05/11 01:54:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.248[deg] +[05/11 01:54:15 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:54:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:54:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:54:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:54:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:54:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:54:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:54:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:54:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:54:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:54:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:54:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m) +[05/11 01:54:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:54:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:54:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068764m +[05/11 01:54:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:54:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:54:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:54:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:54:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:54:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67195298 0.14584597 0.06876416] yaw=154.0deg +[05/11 01:54:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:54:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65602324 0.22489266 0.06876416] yaw=176.2deg +[05/11 01:54:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:54:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:54:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74381224 -0.01363215 0.06876416] yaw=141.8deg +[05/11 01:54:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:54:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:54:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.8ms, total=193.8ms +[05/11 01:54:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.146, 0.069) +[05/11 01:54:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg +[05/11 01:54:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.084m +[05/11 01:54:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:54:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:54:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:54:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:54:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:54:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 01:54:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s +[05/11 01:54:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:54:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:54:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 01:54:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.405s, found feasible grasp: True +[05/11 01:54:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.635[m] 85.157[deg] +[05/11 01:54:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:55:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:55:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:55:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:56:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/11 01:57:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:57:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 3/4: 1 episodes +[05/11 01:57:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:57:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:57:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:57:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.08s (batch: 5.43s, save: 8.65s) +[05/11 01:57:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=2.88s: + episode_total: mean=98.61s, total=493.03s, count=5, min=2253.4ms, max=187870.5ms + sensor_polling: mean=455.6ms, total=377.67s, count=829, min=382.7ms, max=917.1ms + physics_step: mean=21.6ms, total=17.95s, count=829, min=14.3ms, max=75.0ms + save_trajectories: mean=8.65s, total=8.65s, count=1, min=8650.1ms, max=8650.1ms + save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5425.7ms, max=5425.7ms + task_sampling: mean=576.2ms, total=2.88s, count=5, min=419.2ms, max=940.7ms + task_specific_sample: mean=572.8ms, total=2.86s, count=5, min=415.6ms, max=937.7ms + scene_randomize: mean=1.6ms, total=8.2ms, count=5, min=1.2ms, max=2.8ms + mj_forward_sync: mean=485.3us, total=2.4ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=16.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms +[05/11 01:57:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:57:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:57:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:57:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:57:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:57:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:57:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:57:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:57:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:57:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:57:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) +[05/11 01:57:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:57:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:57:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018193m +[05/11 01:57:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:57:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:57:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:57:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00445114 0.18134752 0.01819271] yaw=149.8deg +[05/11 01:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9775352 0.8569201 0.01819271] yaw=-163.2deg +[05/11 01:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90034711 0.55013614 0.01819271] yaw=-177.5deg +[05/11 01:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:57:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:57:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.2ms +[05/11 01:57:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.181, 0.018) +[05/11 01:57:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 149.8 deg +[05/11 01:57:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.760m +[05/11 01:57:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:57:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:57:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:57:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:57:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:57:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 01:57:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s +[05/11 01:57:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:57:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:57:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 01:57:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.443s, found feasible grasp: True +[05/11 01:57:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.330[m] 88.079[deg] +[05/11 01:57:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:57:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:57:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:58:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:58:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:59:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:59:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:59:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:59:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:59:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:59:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:59:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:59:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:59:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps +[05/11 01:59:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.372s, found feasible grasp: True +[05/11 01:59:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.160[deg] +[05/11 01:59:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:59:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp diff --git a/fridge_7/chunk_013/shard_4_of_4.log b/fridge_7/chunk_013/shard_4_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..0cae954afe84229535964c79395ec3a58bbc6806 --- /dev/null +++ b/fridge_7/chunk_013/shard_4_of_4.log @@ -0,0 +1,1173 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_013 + shard=4/4 seed=21304 samples=3 + CUDA_VISIBLE_DEVICES=3 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:31:29 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 01:31:29 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 01:31:29 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_013'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 01:31:29 INFO pipeline.py:1367] {'batch_num': 4, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_013'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_7', + 'seed': 21304, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (0.0, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 4, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:31:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/11 01:31:29 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 01:31:29 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 132481313527632 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 132481313527632 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 132481313527632 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 132481313527632 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 132481316961616 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 132481316961616 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 132481316959120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 132481316959120 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 132481316959120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 132481316959120 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 132481316961616 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 132481316961616 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 132481313628432 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 132481313628432 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 132481313620240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 132481313620240 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 132481313620240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 132481313620240 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 132481313628432 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 132481313628432 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 01:31:29 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 01:31:32 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 01:31:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:31:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:31:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:31:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:31:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:31:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:31:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) +[05/11 01:31:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:31:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:31:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096745m +[05/11 01:31:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:31:32 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 01:31:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:31:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91514459 0.70968822 0.09674462] yaw=-172.7deg +[05/11 01:31:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:31:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96692728 0.72929753 0.09674462] yaw=-170.9deg +[05/11 01:31:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:31:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.70788417 0.10207095 0.09674462] yaw=166.2deg +[05/11 01:31:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:31:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:31:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=22.8ms, retries=264.2ms, total=286.9ms +[05/11 01:31:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.915, 0.710, 0.097) +[05/11 01:31:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.7 deg +[05/11 01:31:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.819m +[05/11 01:31:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:31:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:31:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:31:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:31:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:31:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 01:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.813s +[05/11 01:32:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:32:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:32:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps +[05/11 01:32:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.747s, found feasible grasp: True +[05/11 01:32:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.381[m] 89.921[deg] +[05/11 01:32:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:32:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:32:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:32:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:34:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 01:35:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:35:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes +[05/11 01:35:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps +[05/11 01:35:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 01:35:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:35:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.13s (batch: 4.27s, save: 8.86s) +[05/11 01:35:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.98s: + episode_total: mean=233.22s, total=233.22s, count=1, min=233216.6ms, max=233216.6ms + sensor_polling: mean=516.0ms, total=153.26s, count=297, min=449.7ms, max=910.3ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8855.0ms, max=8855.0ms + physics_step: mean=24.8ms, total=7.36s, count=297, min=18.2ms, max=69.3ms + save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4270.3ms, max=4270.3ms + task_sampling: mean=3.98s, total=3.98s, count=1, min=3979.6ms, max=3979.6ms + scene_load: mean=3.40s, total=3.40s, count=1, min=3404.6ms, max=3404.6ms + scene_env_create: mean=2.09s, total=2.09s, count=1, min=2088.3ms, max=2088.3ms + scene_compile: mean=1.03s, total=1.03s, count=1, min=1031.5ms, max=1031.5ms + compile_mujoco: mean=636.6ms, total=636.6ms, count=1, min=636.6ms, max=636.6ms + task_specific_sample: mean=571.0ms, total=571.0ms, count=1, min=571.0ms, max=571.0ms + compile_xml_load: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms + scene_init: mean=182.1ms, total=182.1ms, count=1, min=182.1ms, max=182.1ms + scene_asset_install: mean=102.3ms, total=102.3ms, count=1, min=102.3ms, max=102.3ms + compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms + asset_install_grasps: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms + asset_install_objects: mean=21.0ms, total=21.0ms, count=1, min=21.0ms, max=21.0ms + compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms + asset_install_scene: mean=9.3ms, total=9.3ms, count=1, min=9.3ms, max=9.3ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=670.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:35:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:35:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:35:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:35:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:35:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:35:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:35:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:35:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:35:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:35:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:35:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) +[05/11 01:35:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:35:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:35:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021089m +[05/11 01:35:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:35:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:35:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:35:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0237606 0.81904354 0.02108882] yaw=-151.9deg +[05/11 01:35:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:35:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:35:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:35:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:35:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84613182 0.66262588 0.02108882] yaw=-176.1deg +[05/11 01:35:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:35:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87771129 0.74042412 0.02108882] yaw=-171.8deg +[05/11 01:35:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:35:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:35:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.3ms +[05/11 01:35:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.819, 0.021) +[05/11 01:35:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg +[05/11 01:35:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.758m +[05/11 01:35:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:35:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:35:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:35:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:35:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:35:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 01:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/11 01:35:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:35:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:35:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps +[05/11 01:35:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True +[05/11 01:35:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.320[m] 90.756[deg] +[05/11 01:35:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:35:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:36:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:36:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:37:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True +[05/11 01:38:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:38:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes +[05/11 01:38:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 286 timesteps +[05/11 01:38:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:38:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:38:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.90s (batch: 4.67s, save: 8.23s) +[05/11 01:38:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s: + episode_total: mean=189.77s, total=189.77s, count=1, min=189771.6ms, max=189771.6ms + sensor_polling: mean=506.3ms, total=144.30s, count=285, min=447.1ms, max=722.6ms + save_trajectories: mean=8.23s, total=8.23s, count=1, min=8229.3ms, max=8229.3ms + physics_step: mean=24.3ms, total=6.92s, count=285, min=15.2ms, max=61.0ms + save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.4ms, max=4670.4ms + task_sampling: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms + task_specific_sample: mean=414.6ms, total=414.6ms, count=1, min=414.6ms, max=414.6ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + mj_forward_sync: mean=392.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:38:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:38:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:38:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:38:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:38:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:38:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:38:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:38:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:38:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:38:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:38:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) +[05/11 01:38:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:38:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:38:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053195m +[05/11 01:38:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:38:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:38:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:38:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82994202 0.22643865 0.05319456] yaw=154.2deg +[05/11 01:38:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:38:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08443057 0.98622681 0.05319456] yaw=-136.7deg +[05/11 01:38:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:38:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:38:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82916455 0.78750751 0.05319456] yaw=-166.7deg +[05/11 01:38:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:38:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:38:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.7ms, total=110.7ms +[05/11 01:38:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.226, 0.053) +[05/11 01:38:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.2 deg +[05/11 01:38:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.909m +[05/11 01:38:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:38:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:38:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:38:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:38:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:38:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 01:38:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s +[05/11 01:38:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:38:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:38:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:38:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True +[05/11 01:38:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.507[m] 96.282[deg] +[05/11 01:38:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:38:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:38:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:39:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:39:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:40:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:40:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:40:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:40:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:40:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:40:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:40:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:40:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:40:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:40:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps +[05/11 01:40:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.455s, found feasible grasp: True +[05/11 01:40:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.273[deg] +[05/11 01:41:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:41:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:41:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:41:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:41:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:41:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:41:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:41:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:41:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:41:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:41:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:41:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m) +[05/11 01:41:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:41:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:41:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028423m +[05/11 01:41:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:41:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:41:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:41:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:41:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99974987 0.17722536 0.02842251] yaw=146.2deg +[05/11 01:41:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:41:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:41:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:41:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:41:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95510403 1.12082297 0.02842251] yaw=-133.8deg +[05/11 01:41:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:41:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8810174 0.25697078 0.02842251] yaw=174.3deg +[05/11 01:41:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:41:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:41:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.8ms, total=210.9ms +[05/11 01:41:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.177, 0.028) +[05/11 01:41:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 146.2 deg +[05/11 01:41:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m +[05/11 01:41:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:41:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:41:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:41:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:41:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:41:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/11 01:41:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s +[05/11 01:41:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:41:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:41:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 01:41:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.570s, found feasible grasp: True +[05/11 01:41:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.341[m] 95.088[deg] +[05/11 01:41:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:41:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:41:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:41:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:42:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:42:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:42:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:42:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:42:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:42:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:42:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:42:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:42:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:42:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps +[05/11 01:42:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.511s, found feasible grasp: True +[05/11 01:42:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.226[deg] +[05/11 01:42:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:42:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:42:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:42:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:42:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:43:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:43:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:43:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:43:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:43:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:43:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:43:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:43:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:43:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:43:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:43:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:43:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:43:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:43:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:43:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:43:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 01:43:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:43:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:43:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps +[05/11 01:43:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.483s, found feasible grasp: True +[05/11 01:43:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.813[deg] +[05/11 01:43:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:43:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:43:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:43:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:43:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:43:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:43:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:43:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:43:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:43:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:43:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:43:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) +[05/11 01:43:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:43:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:43:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095192m +[05/11 01:43:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:43:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:43:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:43:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:43:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:43:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97544055 0.20613593 0.09519221] yaw=148.6deg +[05/11 01:43:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:43:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:43:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:43:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83518246 0.45962411 0.09519221] yaw=177.8deg +[05/11 01:43:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:43:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84207683 0.09891738 0.09519221] yaw=157.7deg +[05/11 01:43:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:43:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:43:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.7ms, total=189.8ms +[05/11 01:43:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.206, 0.095) +[05/11 01:43:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.6 deg +[05/11 01:43:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.777m +[05/11 01:43:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:43:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:43:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:43:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:43:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:43:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/11 01:43:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s +[05/11 01:43:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:43:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:43:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:43:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True +[05/11 01:43:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.392[m] 105.634[deg] +[05/11 01:43:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:44:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:44:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:44:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:45:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:45:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:45:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:45:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:45:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:45:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:45:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps +[05/11 01:45:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.468s, found feasible grasp: True +[05/11 01:45:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.140[deg] +[05/11 01:45:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:45:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:45:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:45:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:45:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:45:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:45:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:45:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:45:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:45:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:45:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:45:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) +[05/11 01:45:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:45:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:45:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019247m +[05/11 01:45:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:45:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:45:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:45:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1748546 1.10011804 0.01924706] yaw=-123.4deg +[05/11 01:45:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:45:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:45:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85939754 0.55980857 0.01924706] yaw=-179.5deg +[05/11 01:45:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:45:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.62713656 0.49240393 0.01924706] yaw=-177.4deg +[05/11 01:45:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:45:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:45:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.2ms, total=174.2ms +[05/11 01:45:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.175, 1.100, 0.019) +[05/11 01:45:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.4 deg +[05/11 01:45:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.813m +[05/11 01:45:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:45:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:45:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:45:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:45:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:45:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 01:45:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s +[05/11 01:45:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:45:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:45:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 01:45:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True +[05/11 01:45:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.397[m] 85.887[deg] +[05/11 01:45:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:46:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:46:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:46:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:47:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:47:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:47:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:47:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:47:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:47:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:47:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:47:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:47:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:47:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:47:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps +[05/11 01:47:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.718s, found feasible grasp: True +[05/11 01:47:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.445[deg] +[05/11 01:47:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 01:47:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:47:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:47:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:47:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:47:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:47:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:47:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:47:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:47:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:47:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:47:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) +[05/11 01:47:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:47:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:47:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053068m +[05/11 01:47:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:47:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:47:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:47:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:47:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:47:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:47:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:47:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:47:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86918567 0.14626203 0.05306787] yaw=154.4deg +[05/11 01:47:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:47:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65037721 0.30026888 0.05306787] yaw=173.7deg +[05/11 01:47:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:47:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:47:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.9ms, total=199.0ms +[05/11 01:47:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.869, 0.146, 0.053) +[05/11 01:47:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg +[05/11 01:47:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.898m +[05/11 01:47:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:47:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:47:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:47:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:47:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:47:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 01:47:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s +[05/11 01:47:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:47:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:47:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 01:47:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.551s, found feasible grasp: True +[05/11 01:47:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.511[m] 102.421[deg] +[05/11 01:47:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:47:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:47:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:48:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:49:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:50:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:50:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:50:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:50:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:50:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:50:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:50:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 01:50:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 01:50:21 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:50:21 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 01:50:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:50:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:50:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps +[05/11 01:50:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.374s, found feasible grasp: True +[05/11 01:50:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.221[deg] +[05/11 01:50:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:50:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:50:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:50:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9 +[05/11 01:50:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 01:50:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 01:50:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:50:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:50:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.102s, found 78 non-colliding grasps +[05/11 01:50:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.796s, found feasible grasp: True +[05/11 01:50:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.222[deg] +[05/11 01:50:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:50:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 01:50:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 01:50:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 01:50:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 01:50:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 01:50:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 01:50:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:50:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:51:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:51:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True +[05/11 01:51:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:51:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes +[05/11 01:51:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:51:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:51:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:51:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 12.42s (batch: 4.28s, save: 8.13s) +[05/11 01:51:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=2.31s: + episode_total: mean=156.90s, total=784.52s, count=5, min=100760.1ms, max=230806.7ms + sensor_polling: mean=493.6ms, total=598.29s, count=1212, min=429.7ms, max=1049.2ms + physics_step: mean=23.7ms, total=28.76s, count=1212, min=14.2ms, max=85.4ms + save_trajectories: mean=8.13s, total=8.13s, count=1, min=8132.4ms, max=8132.4ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.3ms, max=4283.3ms + task_sampling: mean=462.7ms, total=2.31s, count=5, min=410.6ms, max=509.2ms + task_specific_sample: mean=458.8ms, total=2.29s, count=5, min=406.3ms, max=505.5ms + scene_randomize: mean=1.9ms, total=9.4ms, count=5, min=1.4ms, max=2.9ms + mj_forward_sync: mean=485.5us, total=2.4ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=19.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms +[05/11 01:51:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:51:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:51:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:51:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:51:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:51:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:51:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:51:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:51:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:51:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:51:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) +[05/11 01:51:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:51:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:51:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032304m +[05/11 01:51:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:51:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:51:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:51:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:51:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96908749 0.80568417 0.03230376] yaw=-156.5deg +[05/11 01:51:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:51:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:51:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95713437 0.2353576 0.03230376] yaw=152.2deg +[05/11 01:51:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:51:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9496352 0.90947818 0.03230376] yaw=-143.3deg +[05/11 01:51:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:51:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:51:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.6ms +[05/11 01:51:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.969, 0.806, 0.032) +[05/11 01:51:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg +[05/11 01:51:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m +[05/11 01:51:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:51:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:51:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:51:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:51:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:51:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 01:51:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s +[05/11 01:51:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:51:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:51:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 01:51:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True +[05/11 01:51:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.382[m] 90.348[deg] +[05/11 01:51:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:51:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:51:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:52:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:52:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:54:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True +[05/11 01:54:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:54:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes +[05/11 01:54:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps +[05/11 01:54:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:54:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:54:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 14.17s (batch: 4.44s, save: 9.72s) +[05/11 01:54:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.34s: + episode_total: mean=181.95s, total=181.95s, count=1, min=181945.6ms, max=181945.6ms + sensor_polling: mean=452.5ms, total=135.29s, count=299, min=387.4ms, max=661.8ms + save_trajectories: mean=9.72s, total=9.72s, count=1, min=9723.3ms, max=9723.3ms + physics_step: mean=21.0ms, total=6.27s, count=299, min=13.6ms, max=48.4ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4441.8ms, max=4441.8ms + task_sampling: mean=344.1ms, total=344.1ms, count=1, min=344.1ms, max=344.1ms + task_specific_sample: mean=340.6ms, total=340.6ms, count=1, min=340.6ms, max=340.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=368.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:54:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:54:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:54:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:54:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:54:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:54:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:54:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:54:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:54:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:54:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:54:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) +[05/11 01:54:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:54:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:54:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095887m +[05/11 01:54:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:54:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:54:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:54:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68537288 0.86644215 0.09588694] yaw=-148.2deg +[05/11 01:54:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:54:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78697182 1.00826177 0.09588694] yaw=-149.3deg +[05/11 01:54:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 01:54:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:54:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:54:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75505762 -0.03542559 0.09588694] yaw=149.4deg +[05/11 01:54:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 01:54:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:54:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.4ms, total=97.4ms +[05/11 01:54:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.866, 0.096) +[05/11 01:54:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg +[05/11 01:54:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.087m +[05/11 01:54:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:54:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:54:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:54:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:54:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:54:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 01:54:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s +[05/11 01:54:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:54:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:54:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps +[05/11 01:54:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.608s, found feasible grasp: True +[05/11 01:54:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.720[m] 92.576[deg] +[05/11 01:54:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:56:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:56:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:56:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 01:57:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True +[05/11 01:57:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:57:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_013 batch 4/4: 1 episodes +[05/11 01:57:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 01:57:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 01:57:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_013 +[05/11 01:57:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_013 in 13.58s (batch: 3.62s, save: 9.95s) +[05/11 01:57:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.39s: + episode_total: mean=178.96s, total=178.96s, count=1, min=178958.0ms, max=178958.0ms + sensor_polling: mean=443.3ms, total=132.99s, count=300, min=379.3ms, max=870.5ms + save_trajectories: mean=9.95s, total=9.95s, count=1, min=9951.2ms, max=9951.2ms + physics_step: mean=20.4ms, total=6.11s, count=300, min=13.7ms, max=56.4ms + save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.0ms, max=3624.0ms + task_sampling: mean=392.7ms, total=392.7ms, count=1, min=392.7ms, max=392.7ms + task_specific_sample: mean=388.5ms, total=388.5ms, count=1, min=388.5ms, max=388.5ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=571.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 01:57:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:57:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:57:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:57:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:57:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:57:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:57:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:57:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:57:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:57:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:57:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m) +[05/11 01:57:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:57:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:57:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071542m +[05/11 01:57:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:57:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:57:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:57:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:54 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=202.4ms, total=202.4ms +[05/11 01:57:54 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house + task = runner_class.sample_task_from_spec( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec + return task_sampler.sample_task(house_index=house_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task + task = self._sample_task(self.env) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task + self._sample_and_place_robot(env) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot + raise ValueError(f"Failed to place robot near object: {pickup_obj.name}") +ValueError: Failed to place robot near object: Fridge_7_upside_down_root +[05/11 01:57:54 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root +[05/11 01:57:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 01:57:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 01:57:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 01:57:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:57:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:57:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:57:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:57:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 01:57:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 01:57:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 01:57:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) +[05/11 01:57:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 01:57:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 01:57:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094285m +[05/11 01:57:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 01:57:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 01:57:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 01:57:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96119309 0.7485277 0.09428501] yaw=-158.1deg +[05/11 01:57:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 01:57:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 01:57:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 01:57:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=158.9ms, total=159.0ms +[05/11 01:57:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.961, 0.749, 0.094) +[05/11 01:57:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg +[05/11 01:57:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.788m +[05/11 01:57:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 01:57:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 01:57:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 01:57:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 01:57:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 01:57:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 01:57:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s +[05/11 01:57:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 01:57:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 01:57:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps +[05/11 01:57:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.653s, found feasible grasp: True +[05/11 01:57:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.388[m] 94.829[deg] +[05/11 01:57:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 01:57:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 01:57:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 01:58:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 01:58:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 01:58:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift diff --git a/fridge_7/chunk_013/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_7/chunk_013/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 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