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642734 diff --git a/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8c640c8afde50787e7cce94c3e02acec03f12e64 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bdbdc63370d12c402491c2922acddc621d06efbffe1503e5bab4a9336f292c4 +size 136150 diff --git a/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b8b687fdd84f87f948d88076542f6f6600cd7d69 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1017347a94a7929064ba4db2969b20e9bcf13256e4da87b90d8c799089ba2743 +size 131232 diff --git a/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d7ff5879e35384bb5a3e13e14f3ad30eaff0a6d8 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c219a310d593fa5e76a3d0e0d2292584cb9eb1e2e111b6a434de9925721ff792 +size 119673 diff --git a/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ea50d6eadbb96247be5c4a4195f2283eb3f3ee8 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:746a35f1521ad1ccdd6c5eb7eee1553576cf7c0d73c84ab4c9a3d88da89fb0b4 +size 398706 diff --git a/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bc61a1300bb9550a0c1f929c7dbaae79dd63dfd5 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:994b730e2594c8efaa3c2f9d69a1c33d02dddc594e8e33d39a3074812b7654ec +size 422978 diff --git a/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fde4a6764e1569accacb879e34f638762742adbc --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6de860e16660cfd54f78875caeefc3988e8301244f3f185c075d149f26abb259 +size 414347 diff --git a/fridge_m/sim_chunks/chunk_104/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4 b/fridge_m/sim_chunks/chunk_104/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f55be40fa73e2d377711275f236d5fc6ac8115b0 --- /dev/null +++ b/fridge_m/sim_chunks/chunk_104/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd854fb5c2a613fa017851a76bd70b3eead693c3362056338520dfe5860bc7c4 +size 649672 diff --git a/fridge_m/sim_chunks/chunk_104/running_log.log b/fridge_m/sim_chunks/chunk_104/running_log.log index 05ebe86c774e011c18055b8b9b0528b533a61f69..7943c34422f6bda0b6472407d156b32040dc01de 100644 --- a/fridge_m/sim_chunks/chunk_104/running_log.log +++ b/fridge_m/sim_chunks/chunk_104/running_log.log @@ -1720,3 +1720,1082 @@ 05/11 16:30:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] 05/11 16:30:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] 05/11 16:30:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:30:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:30:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:30:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:31:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:31:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:31:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:31:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.105s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 16:31:09 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.858s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:31:09 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.208[deg] [grasp_sample.py: 539] +05/11 16:31:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:31:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:31:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:31:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:31:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:31:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:31:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:31:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:31:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:31:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:31:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 16:31:38 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.644s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:31:38 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.661[deg] [grasp_sample.py: 539] +05/11 16:31:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:31:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:31:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:31:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:31:52 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:31:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:57 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:31:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:31:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:32:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:32:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:32:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:32:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:32:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:32:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 16:32:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.885s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:32:05 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.823[deg] [grasp_sample.py: 539] +05/11 16:32:06 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 16:32:07 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:32:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:32:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:32:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:32:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:32:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:32:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:32:08 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 16:32:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:32:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035198m [env.py: 870] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:32:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84483001 0.30072962 0.03519759] yaw=175.4deg [env.py: 1019] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85880269 0.25447549 0.03519759] yaw=163.3deg [env.py: 1019] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90270303 0.59040331 0.03519759] yaw=-173.3deg [env.py: 1019] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:32:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=98.7ms, total=98.8ms [env.py: 1075] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.301, 0.035) [env.py: 1079] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.4 deg [env.py: 1082] +05/11 16:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/11 16:32:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:32:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:32:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:32:08 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 16:32:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 16:32:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:32:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:32:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:32:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.637s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:32:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.425[m] 89.259[deg] [grasp_sample.py: 539] +05/11 16:32:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:32:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:32:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:32:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:32:21 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:32:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 16:32:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:32:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:32:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:32:25 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:32:38 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:32:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 16:32:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:32:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:32:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:32:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 17.31s (batch: 4.54s, save: 12.77s) [pipeline.py: 300] +05/11 16:32:39 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s: + episode_total: mean=184.29s, total=184.29s, count=1, min=184292.7ms, max=184292.7ms + sensor_polling: mean=413.6ms, total=124.07s, count=300, min=325.8ms, max=883.6ms + save_trajectories: mean=12.77s, total=12.77s, count=1, min=12769.3ms, max=12769.3ms + physics_step: mean=26.9ms, total=8.06s, count=300, min=21.5ms, max=69.5ms + save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4537.5ms, max=4537.5ms + task_sampling: mean=440.5ms, total=440.5ms, count=1, min=440.5ms, max=440.5ms + task_specific_sample: mean=436.4ms, total=436.4ms, count=1, min=436.4ms, max=436.4ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=570.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + 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 16:32:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:32:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:32:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:32:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:32:40 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 16:32:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:32:40 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 16:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047332m [env.py: 870] +05/11 16:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:32:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96107729 0.69837039 0.04733212] yaw=-157.9deg [env.py: 1019] +05/11 16:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.88267485 0.91915075 0.04733212] yaw=-161.4deg [env.py: 1019] +05/11 16:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:32:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=175.1ms, total=175.2ms [env.py: 1075] +05/11 16:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 0.698, 0.047) [env.py: 1079] +05/11 16:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg [env.py: 1082] +05/11 16:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m [env.py: 1086] +05/11 16:32:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:32:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:32:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:32:41 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 16:32:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 16:32:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:32:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:32:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:32:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:32:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.49s (batch: 4.56s, save: 11.92s) [pipeline.py: 300] +05/11 16:32:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.763s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:32:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.346[m] 92.842[deg] [grasp_sample.py: 539] +05/11 16:32:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:32:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:32:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:32:42 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s: + episode_total: mean=181.10s, total=181.10s, count=1, min=181098.1ms, max=181098.1ms + sensor_polling: mean=407.9ms, total=122.36s, count=300, min=313.1ms, max=878.4ms + save_trajectories: mean=11.92s, total=11.92s, count=1, min=11921.4ms, max=11921.4ms + physics_step: mean=27.1ms, total=8.12s, count=300, min=21.5ms, max=86.4ms + save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4564.1ms, max=4564.1ms + task_sampling: mean=429.4ms, total=429.4ms, count=1, min=429.4ms, max=429.4ms + task_specific_sample: mean=425.7ms, total=425.7ms, count=1, min=425.7ms, max=425.7ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=455.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.7us, 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 16:32:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:32:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:32:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:32:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:32:44 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 16:32:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:32:44 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 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052041m [env.py: 870] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:32:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08136935 1.24613292 0.05204121] yaw=-123.8deg [env.py: 1019] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.14612324 1.05717345 0.05204121] yaw=-137.4deg [env.py: 1019] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93926052 1.07750295 0.05204121] yaw=-135.3deg [env.py: 1019] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:32:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.0ms, total=170.0ms [env.py: 1075] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.081, 1.246, 0.052) [env.py: 1079] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.8 deg [env.py: 1082] +05/11 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/11 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:32:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:32:44 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 16:32:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/11 16:32:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:32:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:32:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:32:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:32:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.601s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:32:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 89.717[deg] [grasp_sample.py: 539] +05/11 16:32:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:32:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:32:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:32:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:32:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:32:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:32:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 17.18s (batch: 4.24s, save: 12.94s) [pipeline.py: 300] +05/11 16:32:56 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.40s: + episode_total: mean=199.24s, total=199.24s, count=1, min=199241.6ms, max=199241.6ms + sensor_polling: mean=408.6ms, total=122.59s, count=300, min=306.7ms, max=842.7ms + save_trajectories: mean=12.94s, total=12.94s, count=1, min=12935.2ms, max=12935.2ms + physics_step: mean=27.9ms, total=8.36s, count=300, min=21.7ms, max=75.9ms + save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4241.0ms, max=4241.0ms + task_sampling: mean=395.8ms, total=395.8ms, count=1, min=395.8ms, max=395.8ms + task_specific_sample: mean=391.9ms, total=391.9ms, count=1, min=391.9ms, max=391.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=455.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:32:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:32:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:32:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:32:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:32:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:32:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:32:58 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 16:32:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:32:58 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 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019677m [env.py: 870] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:32:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67680196 0.70691915 0.01967721] yaw=-157.9deg [env.py: 1019] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88341395 0.33887562 0.01967721] yaw=181.0deg [env.py: 1019] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96676492 1.13990249 0.01967721] yaw=-144.2deg [env.py: 1019] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:32:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=250.3ms, total=250.5ms [env.py: 1075] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.707, 0.020) [env.py: 1079] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg [env.py: 1082] +05/11 16:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/11 16:32:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:32:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:32:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:32:59 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 16:32:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s [base_object_manipulation_planner_policy.py: 377] +05/11 16:32:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:32:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:32:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:32:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.132s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:33:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.652s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:33:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.609[m] 85.514[deg] [grasp_sample.py: 539] +05/11 16:33:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:33:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:33:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:33:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:33:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:33:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:33:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:33:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:33:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:33:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:33:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:33:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:34:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:34:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:34:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:34:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:34:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.172s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 16:34:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:34:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.913s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:34:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.540[deg] [grasp_sample.py: 539] +05/11 16:34:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:34:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:34:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:34:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:34:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:34:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:34:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:34:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:34:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:34:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:34:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 72 non-colliding grasps [grasp_sample.py: 465] +05/11 16:34:40 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:34:42 INFO: [Worker 0] Feasibility-checked 72 grasps in 3.427s, found feasible grasp: False [grasp_sample.py: 500] +05/11 16:34:42 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 16:34:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:34:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:34:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:34:44 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:34:44 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 16:34:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:34:44 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 16:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024753m [env.py: 870] +05/11 16:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:34:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67737297 0.61917367 0.02475274] yaw=-177.1deg [env.py: 1019] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83969974 1.02496922 0.02475274] yaw=-143.1deg [env.py: 1019] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8328763 0.84687455 0.02475274] yaw=-168.3deg [env.py: 1019] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:34:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=188.9ms, total=189.0ms [env.py: 1075] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.619, 0.025) [env.py: 1079] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.1 deg [env.py: 1082] +05/11 16:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/11 16:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:34:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:34:45 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 16:34:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/11 16:34:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:34:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:34:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:34:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.341s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:34:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.607[m] 95.299[deg] [grasp_sample.py: 539] +05/11 16:34:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:34:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:34:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:34:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:35:00 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:35:15 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:35:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 16:35:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:35:19 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:35:27 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:35:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 16:35:27 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/11 16:35:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:35:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:35:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 15.90s (batch: 4.21s, save: 11.68s) [pipeline.py: 300] +05/11 16:35:32 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.90s: + episode_total: mean=175.55s, total=351.10s, count=2, min=147116.6ms, max=203985.3ms + sensor_polling: mean=416.6ms, total=227.87s, count=547, min=319.0ms, max=1525.8ms + physics_step: mean=27.6ms, total=15.11s, count=547, min=17.3ms, max=89.8ms + save_trajectories: mean=11.68s, total=11.68s, count=1, min=11684.0ms, max=11684.0ms + save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4214.1ms, max=4214.1ms + task_sampling: mean=449.6ms, total=899.3ms, count=2, min=407.2ms, max=492.1ms + task_specific_sample: mean=445.5ms, total=891.1ms, count=2, min=402.9ms, max=488.2ms + scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.2ms, max=2.5ms + mj_forward_sync: mean=518.6us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=26.6us, total=0.1ms, 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 16:35:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:35:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:35:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:35:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:35:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:35:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:35:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047762m [env.py: 870] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:35:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17313614 1.05523575 0.04776205] yaw=-142.3deg [env.py: 1019] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7992223 0.61050967 0.04776205] yaw=-170.6deg [env.py: 1019] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61408134 0.42426219 0.04776205] yaw=168.9deg [env.py: 1019] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:35:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.1ms, total=136.1ms [env.py: 1075] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.173, 1.055, 0.048) [env.py: 1079] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.3 deg [env.py: 1082] +05/11 16:35:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m [env.py: 1086] +05/11 16:35:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:35:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:35:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:35:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:35:34 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 16:35:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/11 16:35:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:35:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:35:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:35:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.745s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:35:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.354[m] 81.177[deg] [grasp_sample.py: 539] +05/11 16:35:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:35:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:35:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:35:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:35:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:35:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:35:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.65s (batch: 4.33s, save: 12.32s) [pipeline.py: 300] +05/11 16:35:45 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.47s: + episode_total: mean=184.73s, total=184.73s, count=1, min=184728.0ms, max=184728.0ms + sensor_polling: mean=432.7ms, total=125.91s, count=291, min=337.4ms, max=722.4ms + save_trajectories: mean=12.32s, total=12.32s, count=1, min=12323.3ms, max=12323.3ms + physics_step: mean=28.7ms, total=8.36s, count=291, min=16.7ms, max=92.1ms + save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4328.5ms, max=4328.5ms + task_sampling: mean=466.7ms, total=466.7ms, count=1, min=466.7ms, max=466.7ms + task_specific_sample: mean=462.8ms, total=462.8ms, count=1, min=462.8ms, max=462.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=456.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.9us, 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 16:35:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:35:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:35:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:35:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:35:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:35:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:35:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:35:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:35:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054623m [env.py: 870] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:35:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93900239 0.83371758 0.05462255] yaw=-148.1deg [env.py: 1019] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75659856 0.1315105 0.05462255] yaw=156.2deg [env.py: 1019] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67911013 0.54178383 0.05462255] yaw=-175.5deg [env.py: 1019] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:35:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=300.6ms, total=300.7ms [env.py: 1075] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.834, 0.055) [env.py: 1079] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg [env.py: 1082] +05/11 16:35:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/11 16:35:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:35:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:35:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:35:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:35:47 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 16:35:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/11 16:35:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:35:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:35:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:35:48 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:35:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 16:35:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:35:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.147s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:35:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.436[m] 87.981[deg] [grasp_sample.py: 539] +05/11 16:35:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:35:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:35:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:35:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:35:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:36:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:36:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:36:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 17.30s (batch: 4.36s, save: 12.95s) [pipeline.py: 300] +05/11 16:36:06 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.60s: + episode_total: mean=187.70s, total=187.70s, count=1, min=187697.5ms, max=187697.5ms + sensor_polling: mean=414.7ms, total=124.41s, count=300, min=335.1ms, max=819.2ms + save_trajectories: mean=12.95s, total=12.95s, count=1, min=12947.6ms, max=12947.6ms + physics_step: mean=27.6ms, total=8.29s, count=300, min=21.9ms, max=78.3ms + save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4356.5ms, max=4356.5ms + task_sampling: mean=596.5ms, total=596.5ms, count=1, min=596.5ms, max=596.5ms + task_specific_sample: mean=591.4ms, total=591.4ms, count=1, min=591.4ms, max=591.4ms + scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=695.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:36:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:36:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:36:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:36:07 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:36:07 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 16:36:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:36:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037733m [env.py: 870] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:36:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.61484125 0.36788515 0.03773293] yaw=163.2deg [env.py: 1019] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95010651 0.72336596 0.03773293] yaw=-155.1deg [env.py: 1019] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91313611 1.18280165 0.03773293] yaw=-132.3deg [env.py: 1019] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:36:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.6ms, total=128.7ms [env.py: 1075] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.615, 0.368, 0.038) [env.py: 1079] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg [env.py: 1082] +05/11 16:36:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/11 16:36:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:36:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:36:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:36:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:36:08 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 16:36:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/11 16:36:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:36:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:36:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:36:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:36:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.310s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:36:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.648[m] 93.728[deg] [grasp_sample.py: 539] +05/11 16:36:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:36:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:36:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:36:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:36:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:36:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:36:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:36:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:36:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:37:08 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:37:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:37:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:37:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:37:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 16:37:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 16:37:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 16:37:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 16:37:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 16:37:39 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:37:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:37:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:37:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 16:37:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 16:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 16:37:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 16:37:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 16:37:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:37:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:37:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.113s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 16:37:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.435s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:37:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.382[deg] [grasp_sample.py: 539] +05/11 16:37:50 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 16:37:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:37:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:37:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:37:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:37:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:37:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:37:52 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 16:37:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:37:52 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 16:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079489m [env.py: 870] +05/11 16:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:37:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8726596 0.49078109 0.0794892 ] yaw=-173.4deg [env.py: 1019] +05/11 16:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.7853169 0.9712382 0.0794892] yaw=-147.5deg [env.py: 1019] +05/11 16:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:37:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=409.1ms, total=409.2ms [env.py: 1075] +05/11 16:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.873, 0.491, 0.079) [env.py: 1079] +05/11 16:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.4 deg [env.py: 1082] +05/11 16:37:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/11 16:37:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:37:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:37:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:37:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:37:53 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 16:37:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/11 16:37:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:37:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:37:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:37:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.848s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:37:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.389[m] 86.761[deg] [grasp_sample.py: 539] +05/11 16:37:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:37:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:37:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:37:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:37:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:37:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:37:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.81s (batch: 4.21s, save: 12.60s) [pipeline.py: 300] +05/11 16:37:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.02s: + episode_total: mean=155.55s, total=311.09s, count=2, min=118542.4ms, max=192552.2ms + sensor_polling: mean=424.5ms, total=221.15s, count=521, min=332.9ms, max=966.6ms + physics_step: mean=28.3ms, total=14.74s, count=521, min=19.6ms, max=100.2ms + save_trajectories: mean=12.60s, total=12.60s, count=1, min=12596.0ms, max=12596.0ms + save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4212.5ms, max=4212.5ms + task_sampling: mean=507.5ms, total=1.02s, count=2, min=486.6ms, max=528.5ms + task_specific_sample: mean=504.1ms, total=1.01s, count=2, min=483.0ms, max=525.1ms + scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.4ms, max=2.1ms + mj_forward_sync: mean=571.5us, total=1.1ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=31.9us, total=0.1ms, 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 16:37:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:37:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:37:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:37:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:37:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:37:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:37:59 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 16:37:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:37:59 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 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018197m [env.py: 870] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:37:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83811518 1.07335444 0.01819655] yaw=-146.7deg [env.py: 1019] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94051837 0.32813718 0.01819655] yaw=158.6deg [env.py: 1019] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79480139 0.72146564 0.01819655] yaw=-156.6deg [env.py: 1019] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:37:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.3ms, total=158.3ms [env.py: 1075] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.838, 1.073, 0.018) [env.py: 1079] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.7 deg [env.py: 1082] +05/11 16:37:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/11 16:37:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:37:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:37:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:37:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:37:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 16:37:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/11 16:37:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:37:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:37:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:38:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.671s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:38:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.618[m] 89.658[deg] [grasp_sample.py: 539] +05/11 16:38:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:38:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:38:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:38:05 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:38:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:38:30 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:38:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:38:37 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:38:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 16:38:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:38:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:38:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:38:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:38:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.01s (batch: 4.10s, save: 11.91s) [pipeline.py: 300] +05/11 16:38:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:38:54 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.64s: + episode_total: mean=187.23s, total=187.23s, count=1, min=187227.8ms, max=187227.8ms + sensor_polling: mean=414.4ms, total=124.31s, count=300, min=330.4ms, max=759.1ms + save_trajectories: mean=11.91s, total=11.91s, count=1, min=11908.4ms, max=11908.4ms + physics_step: mean=27.7ms, total=8.32s, count=300, min=20.2ms, max=139.1ms + save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4103.8ms, max=4103.8ms + task_sampling: mean=639.1ms, total=639.1ms, count=1, min=639.1ms, max=639.1ms + task_specific_sample: mean=633.5ms, total=633.5ms, count=1, min=633.5ms, max=633.5ms + scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=997.2us, total=1.0ms, count=1, min=1.0ms, max=1.0ms + policy_setup: mean=33.9us, 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 16:38:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:38:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:38:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:38:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:38:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:38:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:38:56 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 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019759m [env.py: 870] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:38:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76772299 0.91695133 0.01975874] yaw=-153.7deg [env.py: 1019] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06359089 0.88442299 0.01975874] yaw=-151.5deg [env.py: 1019] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:38:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.9ms, total=239.9ms [env.py: 1075] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.768, 0.917, 0.020) [env.py: 1079] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg [env.py: 1082] +05/11 16:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/11 16:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:38:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:38:56 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 16:38:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/11 16:38:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:38:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:38:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:38:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.200s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:38:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.586[m] 85.369[deg] [grasp_sample.py: 539] +05/11 16:38:59 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:38:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 16:38:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:39:00 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 16:39:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:39:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:39:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:39:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:39:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:39:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:39:02 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 16:39:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:39:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054734m [env.py: 870] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:39:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72518922 0.89399685 0.05473351] yaw=-158.2deg [env.py: 1019] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66361194 0.46935176 0.05473351] yaw=173.2deg [env.py: 1019] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89235604 0.7628235 0.05473351] yaw=-157.7deg [env.py: 1019] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:39:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.9ms, total=135.0ms [env.py: 1075] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.725, 0.894, 0.055) [env.py: 1079] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.2 deg [env.py: 1082] +05/11 16:39:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/11 16:39:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:39:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:39:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:39:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:39:02 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 16:39:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/11 16:39:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:39:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:39:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:39:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:39:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.329s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:39:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 84.984[deg] [grasp_sample.py: 539] +05/11 16:39:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:39:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:39:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:39:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:39:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:39:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:39:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.66s (batch: 4.35s, save: 12.30s) [pipeline.py: 300] +05/11 16:39:17 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s: + episode_total: mean=189.68s, total=189.68s, count=1, min=189683.1ms, max=189683.1ms + sensor_polling: mean=423.2ms, total=126.96s, count=300, min=335.2ms, max=983.9ms + save_trajectories: mean=12.30s, total=12.30s, count=1, min=12304.4ms, max=12304.4ms + physics_step: mean=30.6ms, total=9.17s, count=300, min=21.8ms, max=166.1ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4352.6ms, max=4352.6ms + task_sampling: mean=454.5ms, total=454.5ms, count=1, min=454.5ms, max=454.5ms + task_specific_sample: mean=450.3ms, total=450.3ms, count=1, min=450.3ms, max=450.3ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=468.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:39:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:39:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:39:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:39:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:39:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 16:39:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:39:19 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 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069394m [env.py: 870] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:39:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98166345 0.78408453 0.06939428] yaw=-155.9deg [env.py: 1019] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85664738 0.45764835 0.06939428] yaw=183.1deg [env.py: 1019] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:39:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=213.3ms, total=213.4ms [env.py: 1075] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.784, 0.069) [env.py: 1079] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.9 deg [env.py: 1082] +05/11 16:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.781m [env.py: 1086] +05/11 16:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:39:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:39:19 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 16:39:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 16:39:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:39:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:39:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:39:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.761s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:39:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.298[m] 77.423[deg] [grasp_sample.py: 539] +05/11 16:39:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:39:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:39:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:39:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:39:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:39:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:39:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:40:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:40:08 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:40:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:40:12 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:40:40 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:40:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 16:40:40 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/11 16:40:42 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:40:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 16:40:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:40:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:40:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:40:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 16.61s (batch: 5.06s, save: 11.55s) [pipeline.py: 300] +05/11 16:40:57 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.15s: + episode_total: mean=161.01s, total=322.01s, count=2, min=137205.6ms, max=184807.1ms + sensor_polling: mean=418.0ms, total=229.47s, count=549, min=312.2ms, max=859.6ms + physics_step: mean=27.4ms, total=15.02s, count=549, min=16.8ms, max=83.7ms + save_trajectories: mean=11.55s, total=11.55s, count=1, min=11545.5ms, max=11545.5ms + save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5059.8ms, max=5059.8ms + task_sampling: mean=572.5ms, total=1.15s, count=2, min=445.5ms, max=699.5ms + task_specific_sample: mean=568.5ms, total=1.14s, count=2, min=441.7ms, max=695.2ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.8ms, max=2.4ms + mj_forward_sync: mean=463.7us, total=0.9ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=24.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 16:40:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 16:40:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_104 [save_utils.py: 785] +05/11 16:40:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_104 in 15.69s (batch: 4.19s, save: 11.50s) [pipeline.py: 300] +05/11 16:40:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:40:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:40:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:40:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:40:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:40:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:40:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:40:58 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 16:40:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:40:58 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 16:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018193m [env.py: 870] +05/11 16:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:40:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:40:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75880746 0.24765684 0.01819305] yaw=176.2deg [env.py: 1019] +05/11 16:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04309224 1.10542591 0.01819305] yaw=-131.5deg [env.py: 1019] +05/11 16:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 16:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12295388 1.07809836 0.01819305] yaw=-132.4deg [env.py: 1019] +05/11 16:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 16:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:40:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.3ms, total=118.4ms [env.py: 1075] +05/11 16:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.248, 0.018) [env.py: 1079] +05/11 16:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.2 deg [env.py: 1082] +05/11 16:40:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/11 16:40:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:40:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:40:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:40:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:40:59 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 16:40:59 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.55s: + episode_total: mean=180.39s, total=180.39s, count=1, min=180394.9ms, max=180394.9ms + sensor_polling: mean=396.5ms, total=118.94s, count=300, min=314.5ms, max=843.1ms + save_trajectories: mean=11.50s, total=11.50s, count=1, min=11500.1ms, max=11500.1ms + physics_step: mean=26.3ms, total=7.90s, count=300, min=21.5ms, max=84.2ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4190.7ms, max=4190.7ms + task_sampling: mean=553.9ms, total=553.9ms, count=1, min=553.9ms, max=553.9ms + task_specific_sample: mean=549.9ms, total=549.9ms, count=1, min=549.9ms, max=549.9ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=472.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.8us, 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 16:40:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/11 16:40:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:40:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:40:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:41:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.847s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:41:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.555[m] 97.188[deg] [grasp_sample.py: 539] +05/11 16:41:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:41:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:41:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:41:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 16:41:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 16:41:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 16:41:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:41:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:41:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/11 16:41:01 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 16:41:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 16:41:01 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 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048660m [env.py: 870] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 16:41:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius [env.py: 907] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:41:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.12695892 1.08051232 0.04865988] yaw=-144.9deg [env.py: 1019] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 16:41:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=338.1ms, total=338.2ms [env.py: 1075] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.127, 1.081, 0.049) [env.py: 1079] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.9 deg [env.py: 1082] +05/11 16:41:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/11 16:41:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 16:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 16:41:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 16:41:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 16:41:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 16:41:01 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 16:41:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/11 16:41:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 16:41:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 16:41:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 16:41:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.232s, found feasible grasp: True [grasp_sample.py: 500] +05/11 16:41:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 80.094[deg] [grasp_sample.py: 539] +05/11 16:41:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 16:41:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 16:41:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:41:14 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:41:23 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 16:41:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:41:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 16:41:51 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:41:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 16:41:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 16:41:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 16:41:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 16:41:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_104 [pipeline.py: 1174] +05/11 16:41:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_104 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 16:41:57 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] diff --git a/fridge_m/sim_chunks/chunk_104/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_104/trajectories_batch_1_of_4_cam_rand.h5 index 9105184c36c840d0c0254465ca16ed9b284bc170..70522bc4d5d2c60053dad0e9306b34d448079aa4 100644 --- a/fridge_m/sim_chunks/chunk_104/trajectories_batch_1_of_4_cam_rand.h5 +++ b/fridge_m/sim_chunks/chunk_104/trajectories_batch_1_of_4_cam_rand.h5 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e0ecbb51568a18aff827ca7e00c9f641c2d789bc331e0450b510059ba8a1c31d -size 146445159 +oid sha256:89131c3fdd6d924d5b1ead2ab030e00cee3984fc7a6442bef781460dc28effd4 +size 372984028 diff --git a/fridge_m/sim_chunks/chunk_104/trajectories_batch_2_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_104/trajectories_batch_2_of_4_cam_rand.h5 index 318d591544835a41ab519167242b8a27d528ff26..22bc9df2d8588066fde443a1adc2c8f976d212e6 100644 --- a/fridge_m/sim_chunks/chunk_104/trajectories_batch_2_of_4_cam_rand.h5 +++ b/fridge_m/sim_chunks/chunk_104/trajectories_batch_2_of_4_cam_rand.h5 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2434a81ff161203f78fb6aa913fa0a5ecd593abb362f15fe02d5a41483ad54aa -size 155275418 +oid sha256:40be015e50fc21bb30a1c2feab882ec6c0dd4a2a49204e83e06ddc766021ef00 +size 313491626 diff --git a/fridge_m/sim_chunks/chunk_104/trajectories_batch_3_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_104/trajectories_batch_3_of_4_cam_rand.h5 index dbfa538c94b27e791859c6109e3da105d8e65f0e..1c17e9c0fca2f6cb625af1763bde486435608211 100644 --- a/fridge_m/sim_chunks/chunk_104/trajectories_batch_3_of_4_cam_rand.h5 +++ b/fridge_m/sim_chunks/chunk_104/trajectories_batch_3_of_4_cam_rand.h5 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1b6c2d543782e1f27d7bc51111f0db232c26257926f4fd0c5f8d86bed3810a38 -size 152104591 +oid sha256:98cc318a956f5ceebbe97255d393021a8ad5bc6ee90bffde93cec30ecea44c85 +size 391468687 diff --git a/fridge_m/sim_chunks/chunk_104/trajectories_batch_4_of_4_cam_rand.h5 b/fridge_m/sim_chunks/chunk_104/trajectories_batch_4_of_4_cam_rand.h5 index 7c06f9bf30d3ff47ff201b689f42752791b45065..531f3bfbc1eb370a1f6fbb2c69441e2316849e3c 100644 --- a/fridge_m/sim_chunks/chunk_104/trajectories_batch_4_of_4_cam_rand.h5 +++ b/fridge_m/sim_chunks/chunk_104/trajectories_batch_4_of_4_cam_rand.h5 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:23c52d474ef73acbb90d579d5adfe672461f4e8504be2bb822e787144890e54d -size 167602726 +oid sha256:d3d60f0578f30895c8d8998ed2e0fea3311599cbde962c7905097d17f231d3b9 +size 400770458