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+oid sha256:f55c86688a48072e3720dba0a8b43e6a9c1a727f6ae79daebb6817c1154371aa +size 249517 diff --git a/fridge1_minimal_wall/running_log.log b/fridge1_minimal_wall/running_log.log index aeb3a35ca3a466f65820913f80b122241376a351..3afffac6e6de62ac3efeb1ebe62ea6d8a9bcc6a1 100644 --- a/fridge1_minimal_wall/running_log.log +++ b/fridge1_minimal_wall/running_log.log @@ -16591,3 +16591,1637 @@ 05/09 22:39:39 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] 05/09 22:39:39 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes [pipeline.py: 238] 05/09 22:39:39 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/09 22:39:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:39:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:39:52 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.83s (batch: 3.91s, save: 8.92s) [pipeline.py: 300] +05/09 22:39:52 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.37s: + episode_total: mean=168.93s, total=168.93s, count=1, min=168934.5ms, max=168934.5ms + sensor_polling: mean=444.8ms, total=127.23s, count=286, min=391.7ms, max=726.4ms + save_trajectories: mean=8.92s, total=8.92s, count=1, min=8920.7ms, max=8920.7ms + physics_step: mean=22.9ms, total=6.55s, count=286, min=17.8ms, max=64.1ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3914.2ms, max=3914.2ms + task_sampling: mean=366.0ms, total=366.0ms, count=1, min=366.0ms, max=366.0ms + task_specific_sample: mean=361.4ms, total=361.4ms, count=1, min=361.4ms, max=361.4ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=521.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:39:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:39:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:39:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:39:54 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:39:54 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:39:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:39:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023971m [env.py: 870] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:39:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.0923342 0.76937218 -0.02397078] yaw=-153.4deg [env.py: 1019] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9874202 0.3362023 -0.02397078] yaw=170.8deg [env.py: 1019] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88036291 0.22887787 -0.02397078] yaw=165.9deg [env.py: 1019] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:39:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.5ms, total=171.5ms [env.py: 1075] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.092, 0.769, -0.024) [env.py: 1079] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg [env.py: 1082] +05/09 22:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m [env.py: 1086] +05/09 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:39:54 INFO: [Worker 0] Sampled task 'Open the home appliance' [task_sampler.py: 1136] +05/09 22:39:54 INFO: [Worker 0] Worker 0 house 1 episode 56/60 collected=0/10 [pipeline.py: 1044] +05/09 22:39:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/09 22:39:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:39:54 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:39:54 INFO: [Worker 0] Collision-checked 388 grasps in 0.086s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:39:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.441s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:39:55 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.415[m] 78.396[deg] [grasp_sample.py: 539] +05/09 22:39:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:39:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:39:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/09 22:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/09 22:40:19 INFO: [Worker 0] Worker 0 house 1 episode 52 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/09 22:40:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/09 22:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/09 22:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/09 22:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/09 22:40:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/09 22:40:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/09 22:40:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/09 22:40:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:40:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:40:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 326 non-colliding grasps [grasp_sample.py: 465] +05/09 22:40:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.732s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:40:29 INFO: [Worker 0] Feasible grasp found 323 (originally 129): w/ 0.053[m] 1.216[deg] [grasp_sample.py: 539] +05/09 22:40:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:40:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:40:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:40:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:40:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:40:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:40:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:40:40 INFO: [Worker 0] Saved videos eagerly for episode 49 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:40:40 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes [pipeline.py: 238] +05/09 22:40:40 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/09 22:40:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:40:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:40:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:40:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:40:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:40:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:40:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:40:55 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.88s (batch: 4.53s, save: 10.35s) [pipeline.py: 300] +05/09 22:40:55 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.43s: + episode_total: mean=180.43s, total=180.43s, count=1, min=180427.3ms, max=180427.3ms + sensor_polling: mean=444.8ms, total=133.43s, count=300, min=378.4ms, max=844.5ms + save_trajectories: mean=10.35s, total=10.35s, count=1, min=10346.0ms, max=10346.0ms + physics_step: mean=22.0ms, total=6.59s, count=300, min=13.5ms, max=59.0ms + save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4532.7ms, max=4532.7ms + task_sampling: mean=427.4ms, total=427.4ms, count=1, min=427.4ms, max=427.4ms + task_specific_sample: mean=423.0ms, total=423.0ms, count=1, min=423.0ms, max=423.0ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=538.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:40:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:40:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:40:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:40:57 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:40:57 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:40:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:40:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013309m [env.py: 870] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:40:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11416299 1.1215932 -0.0133095 ] yaw=-131.9deg [env.py: 1019] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02600657 0.73578407 -0.0133095 ] yaw=-164.4deg [env.py: 1019] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:40:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=175.8ms, total=175.8ms [env.py: 1075] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.114, 1.122, -0.013) [env.py: 1079] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg [env.py: 1082] +05/09 22:40:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/09 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:40:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:40:57 INFO: [Worker 0] Sampled task 'Open the white goods' [task_sampler.py: 1136] +05/09 22:40:57 INFO: [Worker 0] Worker 0 house 1 episode 53/60 collected=0/10 [pipeline.py: 1044] +05/09 22:40:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/09 22:40:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:40:57 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:40:58 INFO: [Worker 0] Collision-checked 388 grasps in 0.073s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:40:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.493s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:40:59 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.654[m] 95.444[deg] [grasp_sample.py: 539] +05/09 22:40:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:41:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:41:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:41:02 INFO: [Worker 0] Worker 0 house 1 episode 56 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:41:27 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:41:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes [pipeline.py: 238] +05/09 22:41:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/09 22:41:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:41:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:41:39 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.69s (batch: 4.21s, save: 8.48s) [pipeline.py: 300] +05/09 22:41:40 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.38s: + episode_total: mean=198.88s, total=198.88s, count=1, min=198875.7ms, max=198875.7ms + sensor_polling: mean=447.3ms, total=134.20s, count=300, min=400.7ms, max=717.4ms + save_trajectories: mean=8.48s, total=8.48s, count=1, min=8476.7ms, max=8476.7ms + physics_step: mean=24.0ms, total=7.19s, count=300, min=13.9ms, max=78.9ms + save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4209.6ms, max=4209.6ms + task_sampling: mean=376.5ms, total=376.5ms, count=1, min=376.5ms, max=376.5ms + task_specific_sample: mean=372.1ms, total=372.1ms, count=1, min=372.1ms, max=372.1ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=510.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:41:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:41:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:41:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:41:42 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:41:42 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:41:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:41:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019955m [env.py: 870] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:41:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05511948 0.3085389 -0.0199552 ] yaw=169.7deg [env.py: 1019] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96096322 0.1563325 -0.0199552 ] yaw=161.6deg [env.py: 1019] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06626456 0.84949689 -0.0199552 ] yaw=-148.3deg [env.py: 1019] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:41:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.6ms, total=111.6ms [env.py: 1075] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.055, 0.309, -0.020) [env.py: 1079] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.7 deg [env.py: 1082] +05/09 22:41:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m [env.py: 1086] +05/09 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:41:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:41:42 INFO: [Worker 0] Sampled task 'Open the white goods' [task_sampler.py: 1136] +05/09 22:41:42 INFO: [Worker 0] Worker 0 house 1 episode 57/60 collected=0/10 [pipeline.py: 1044] +05/09 22:41:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/09 22:41:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:41:42 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:41:42 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:41:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.464s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:41:43 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.445[m] 92.932[deg] [grasp_sample.py: 539] +05/09 22:41:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:41:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:41:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:42:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:42:05 INFO: [Worker 0] Worker 0 house 1 episode 54 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:42:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:42:13 INFO: [Worker 0] Worker 0 house 1 episode 56 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:42:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:42:27 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:42:27 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes [pipeline.py: 238] +05/09 22:42:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/09 22:42:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:42:33 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:42:33 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes [pipeline.py: 238] +05/09 22:42:33 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/09 22:42:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:42:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:42:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:42:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.01s (batch: 4.28s, save: 9.73s) [pipeline.py: 300] +05/09 22:42:42 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.38s: + episode_total: mean=185.98s, total=185.98s, count=1, min=185984.7ms, max=185984.7ms + sensor_polling: mean=460.9ms, total=138.27s, count=300, min=391.9ms, max=949.1ms + save_trajectories: mean=9.73s, total=9.73s, count=1, min=9734.5ms, max=9734.5ms + physics_step: mean=22.9ms, total=6.88s, count=300, min=16.8ms, max=58.7ms + save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4280.1ms, max=4280.1ms + task_sampling: mean=375.0ms, total=375.0ms, count=1, min=375.0ms, max=375.0ms + task_specific_sample: mean=371.7ms, total=371.7ms, count=1, min=371.7ms, max=371.7ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=378.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + 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] +05/09 22:42:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:42:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:42:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:42:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:42:43 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:42:43 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:42:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:42:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028094m [env.py: 870] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:42:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96795291 -0.00617108 -0.02809392] yaw=154.4deg [env.py: 1019] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.00319585 0.89368351 -0.02809392] yaw=-159.9deg [env.py: 1019] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:42:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.8ms, total=229.8ms [env.py: 1075] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.968, -0.006, -0.028) [env.py: 1079] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg [env.py: 1082] +05/09 22:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/09 22:42:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:42:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:42:44 INFO: [Worker 0] Sampled task 'Open the two-door white fridge' [task_sampler.py: 1136] +05/09 22:42:44 INFO: [Worker 0] Worker 0 house 1 episode 55/60 collected=0/10 [pipeline.py: 1044] +05/09 22:42:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/09 22:42:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:42:44 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:42:44 INFO: [Worker 0] Collision-checked 388 grasps in 0.071s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:42:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.690s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:42:45 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.595[m] 91.599[deg] [grasp_sample.py: 539] +05/09 22:42:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:42:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:42:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:42:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:42:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:42:46 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.76s (batch: 3.83s, save: 8.93s) [pipeline.py: 300] +05/09 22:42:46 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.41s: + episode_total: mean=172.45s, total=172.45s, count=1, min=172454.4ms, max=172454.4ms + sensor_polling: mean=460.4ms, total=128.44s, count=279, min=392.9ms, max=848.2ms + save_trajectories: mean=8.93s, total=8.93s, count=1, min=8926.4ms, max=8926.4ms + physics_step: mean=24.8ms, total=6.91s, count=279, min=14.7ms, max=81.6ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3829.2ms, max=3829.2ms + task_sampling: mean=413.6ms, total=413.6ms, count=1, min=413.6ms, max=413.6ms + task_specific_sample: mean=410.0ms, total=410.0ms, count=1, min=410.0ms, max=410.0ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=403.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.1us, 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] +05/09 22:42:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:42:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:42:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:42:48 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:42:48 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:42:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:42:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028670m [env.py: 870] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:42:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02210181 0.63837462 -0.02866959] yaw=-164.2deg [env.py: 1019] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.10894429 1.07733506 -0.02866959] yaw=-129.9deg [env.py: 1019] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08434237 0.5197256 -0.02866959] yaw=-174.1deg [env.py: 1019] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:42:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=250.6ms, total=250.7ms [env.py: 1075] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 0.638, -0.029) [env.py: 1079] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg [env.py: 1082] +05/09 22:42:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/09 22:42:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:42:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:42:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:42:48 INFO: [Worker 0] Sampled task 'Open the white goods' [task_sampler.py: 1136] +05/09 22:42:48 INFO: [Worker 0] Worker 0 house 1 episode 57/60 collected=0/10 [pipeline.py: 1044] +05/09 22:42:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/09 22:42:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:42:48 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:42:49 INFO: [Worker 0] Collision-checked 388 grasps in 0.077s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:42:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.458s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:42:49 INFO: [Worker 0] Feasible grasp found 20 (originally 20): w/ 0.423[m] 84.215[deg] [grasp_sample.py: 539] +05/09 22:42:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:42:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:42:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:43:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/09 22:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/09 22:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/09 22:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/09 22:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/09 22:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/09 22:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/09 22:43:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/09 22:43:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/09 22:43:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/09 22:43:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:43:18 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:43:18 INFO: [Worker 0] Collision-checked 388 grasps in 0.092s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:43:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.260s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:43:22 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.155[m] 13.137[deg] [grasp_sample.py: 539] +05/09 22:43:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:43:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:43:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:43:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:43:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:43:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:43:49 INFO: [Worker 0] Worker 0 house 1 episode 53 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:43:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:43:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:43:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:44:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:44:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:44:18 INFO: [Worker 0] Saved videos eagerly for episode 50 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:44:18 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes [pipeline.py: 238] +05/09 22:44:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/09 22:44:28 INFO: [Worker 0] Worker 0 house 1 episode 57 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:44:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:44:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:44:35 INFO: [Worker 0] Successfully saved trajectory data for sim in 17.07s (batch: 4.81s, save: 12.26s) [pipeline.py: 300] +05/09 22:44:36 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.42s: + episode_total: mean=218.90s, total=218.90s, count=1, min=218900.3ms, max=218900.3ms + sensor_polling: mean=482.9ms, total=144.87s, count=300, min=390.5ms, max=940.1ms + save_trajectories: mean=12.26s, total=12.26s, count=1, min=12263.1ms, max=12263.1ms + physics_step: mean=23.7ms, total=7.12s, count=300, min=14.0ms, max=79.7ms + save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4811.6ms, max=4811.6ms + task_sampling: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms + task_specific_sample: mean=413.0ms, total=413.0ms, count=1, min=413.0ms, max=413.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=363.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:44:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:44:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:44:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:44:38 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:44:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:44:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:44:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004337m [env.py: 870] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:44:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07216355 0.5811845 0.00433748] yaw=-179.0deg [env.py: 1019] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08272948 0.85630411 0.00433748] yaw=-141.6deg [env.py: 1019] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9301111 0.09706341 0.00433748] yaw=164.1deg [env.py: 1019] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:44:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=290.6ms, total=290.7ms [env.py: 1075] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.581, 0.004) [env.py: 1079] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.0 deg [env.py: 1082] +05/09 22:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.749m [env.py: 1086] +05/09 22:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:44:39 INFO: [Worker 0] Sampled task 'Open the appliance' [task_sampler.py: 1136] +05/09 22:44:39 INFO: [Worker 0] Worker 0 house 1 episode 54/60 collected=0/10 [pipeline.py: 1044] +05/09 22:44:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/09 22:44:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:44:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:44:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.081s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:44:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.060s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:44:40 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.405[m] 89.049[deg] [grasp_sample.py: 539] +05/09 22:44:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:44:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:44:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:44:55 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:44:55 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes [pipeline.py: 238] +05/09 22:44:55 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/09 22:45:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:45:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:45:11 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.72s (batch: 4.67s, save: 11.05s) [pipeline.py: 300] +05/09 22:45:12 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.36s: + episode_total: mean=210.22s, total=210.22s, count=1, min=210221.6ms, max=210221.6ms + sensor_polling: mean=524.4ms, total=150.50s, count=287, min=412.0ms, max=967.2ms + save_trajectories: mean=11.05s, total=11.05s, count=1, min=11054.6ms, max=11054.6ms + physics_step: mean=27.6ms, total=7.91s, count=287, min=13.6ms, max=114.5ms + save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4669.2ms, max=4669.2ms + task_sampling: mean=357.6ms, total=357.6ms, count=1, min=357.6ms, max=357.6ms + task_specific_sample: mean=354.0ms, total=354.0ms, count=1, min=354.0ms, max=354.0ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=403.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:45:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:45:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:45:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:45:14 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:45:14 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:45:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:45:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004426m [env.py: 870] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:45:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07004133 0.84567441 0.00442573] yaw=-144.3deg [env.py: 1019] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06150313 0.75820193 0.00442573] yaw=-153.8deg [env.py: 1019] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96337788 0.66926198 0.00442573] yaw=-160.3deg [env.py: 1019] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:45:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.0ms, total=98.0ms [env.py: 1075] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.070, 0.846, 0.004) [env.py: 1079] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg [env.py: 1082] +05/09 22:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/09 22:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:45:14 INFO: [Worker 0] Sampled task 'Open the appliance' [task_sampler.py: 1136] +05/09 22:45:14 INFO: [Worker 0] Worker 0 house 1 episode 58/60 collected=0/10 [pipeline.py: 1044] +05/09 22:45:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/09 22:45:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:45:14 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:45:14 INFO: [Worker 0] Collision-checked 388 grasps in 0.070s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:45:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.529s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:45:15 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.484[m] 91.696[deg] [grasp_sample.py: 539] +05/09 22:45:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:45:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:45:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:45:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:45:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:45:35 INFO: [Worker 0] Worker 0 house 1 episode 57 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:45:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:45:43 INFO: [Worker 0] Worker 0 house 1 episode 55 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:45:56 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:45:56 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes [pipeline.py: 238] +05/09 22:45:56 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/09 22:46:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:46:05 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:46:05 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes [pipeline.py: 238] +05/09 22:46:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/09 22:46:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:46:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:46:08 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.49s (batch: 4.32s, save: 8.17s) [pipeline.py: 300] +05/09 22:46:09 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.54s: + episode_total: mean=201.04s, total=201.04s, count=1, min=201042.6ms, max=201042.6ms + sensor_polling: mean=549.0ms, total=153.73s, count=280, min=461.7ms, max=935.3ms + physics_step: mean=30.4ms, total=8.51s, count=280, min=20.7ms, max=134.8ms + save_trajectories: mean=8.17s, total=8.17s, count=1, min=8170.7ms, max=8170.7ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4322.4ms, max=4322.4ms + task_sampling: mean=544.0ms, total=544.0ms, count=1, min=544.0ms, max=544.0ms + task_specific_sample: mean=539.8ms, total=539.8ms, count=1, min=539.8ms, max=539.8ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=455.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:46:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:46:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:46:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:46:11 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:46:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:46:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:46:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040852m [env.py: 870] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:46:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.1792528 0.81212755 0.0408522 ] yaw=-140.8deg [env.py: 1019] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 149.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15307904 0.8315432 0.0408522 ] yaw=-144.8deg [env.py: 1019] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06996906 0.99032258 0.0408522 ] yaw=-136.8deg [env.py: 1019] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:46:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=512.9ms, total=512.9ms [env.py: 1075] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.179, 0.812, 0.041) [env.py: 1079] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg [env.py: 1082] +05/09 22:46:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.735m [env.py: 1086] +05/09 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:46:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:46:12 INFO: [Worker 0] Sampled task 'Open the home appliance' [task_sampler.py: 1136] +05/09 22:46:12 INFO: [Worker 0] Worker 0 house 1 episode 58/60 collected=0/10 [pipeline.py: 1044] +05/09 22:46:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s [base_object_manipulation_planner_policy.py: 377] +05/09 22:46:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:46:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:46:12 INFO: [Worker 0] Collision-checked 388 grasps in 0.103s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:46:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.057s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:46:13 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.389[m] 88.452[deg] [grasp_sample.py: 539] +05/09 22:46:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:46:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:46:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:46:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:46:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:46:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:46:21 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.07s (batch: 4.67s, save: 10.40s) [pipeline.py: 300] +05/09 22:46:21 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.52s: + episode_total: mean=218.09s, total=218.09s, count=1, min=218094.9ms, max=218094.9ms + sensor_polling: mean=553.6ms, total=166.09s, count=300, min=446.6ms, max=1045.5ms + save_trajectories: mean=10.40s, total=10.40s, count=1, min=10395.1ms, max=10395.1ms + physics_step: mean=27.5ms, total=8.25s, count=300, min=16.3ms, max=134.3ms + save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4673.0ms, max=4673.0ms + task_sampling: mean=520.6ms, total=520.6ms, count=1, min=520.6ms, max=520.6ms + task_specific_sample: mean=516.4ms, total=516.4ms, count=1, min=516.4ms, max=516.4ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=447.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.7us, 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] +05/09 22:46:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:46:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:46:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:46:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:46:23 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:46:23 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:46:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:46:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042680m [env.py: 870] +05/09 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:46:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:46:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=206.5ms, total=206.5ms [env.py: 1105] +05/09 22:46:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0' [opening_task_samplers.py: 285] +05/09 22:46:23 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 [pipeline.py: 1063] +05/09 22:46:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:46:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:46:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:46:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:46:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:46:25 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:46:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:46:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:46:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041772m [env.py: 870] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:46:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14720528 0.99551148 -0.04177227] yaw=-129.1deg [env.py: 1019] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04109456 0.29755992 -0.04177227] yaw=172.7deg [env.py: 1019] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99115919 0.39885488 -0.04177227] yaw=178.7deg [env.py: 1019] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:46:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.0ms [env.py: 1075] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.147, 0.996, -0.042) [env.py: 1079] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.1 deg [env.py: 1082] +05/09 22:46:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/09 22:46:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:46:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:46:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:46:26 INFO: [Worker 0] Sampled task 'Open the home appliance' [task_sampler.py: 1136] +05/09 22:46:26 INFO: [Worker 0] Worker 0 house 1 episode 57/60 collected=0/10 [pipeline.py: 1044] +05/09 22:46:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/09 22:46:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:46:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:46:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.082s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:46:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.582s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:46:26 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.563[m] 89.587[deg] [grasp_sample.py: 539] +05/09 22:46:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:46:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:46:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:46:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:47:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:47:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:47:19 INFO: [Worker 0] Worker 0 house 1 episode 54 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:47:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:47:42 INFO: [Worker 0] Saved videos eagerly for episode 51 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:47:42 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes [pipeline.py: 238] +05/09 22:47:42 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/09 22:47:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:47:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:47:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:47:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:47:58 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.93s (batch: 5.46s, save: 10.47s) [pipeline.py: 300] +05/09 22:47:59 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.65s: + episode_total: mean=200.78s, total=200.78s, count=1, min=200782.9ms, max=200782.9ms + sensor_polling: mean=529.9ms, total=146.80s, count=277, min=467.2ms, max=908.7ms + save_trajectories: mean=10.47s, total=10.47s, count=1, min=10470.0ms, max=10470.0ms + physics_step: mean=30.0ms, total=8.30s, count=277, min=19.5ms, max=80.1ms + save_batch_prep: mean=5.46s, total=5.46s, count=1, min=5463.3ms, max=5463.3ms + task_sampling: mean=649.9ms, total=649.9ms, count=1, min=649.9ms, max=649.9ms + task_specific_sample: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms + scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=640.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:48:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:48:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:48:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:48:01 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:48:01 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:48:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:48:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003906m [env.py: 870] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:48:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9157573 0.15310126 -0.00390626] yaw=170.7deg [env.py: 1019] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.12832013 0.96149094 -0.00390626] yaw=-145.6deg [env.py: 1019] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.17956971 1.01351938 -0.00390626] yaw=-127.1deg [env.py: 1019] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:48:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.4ms, total=121.5ms [env.py: 1075] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.153, -0.004) [env.py: 1079] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.7 deg [env.py: 1082] +05/09 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/09 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:48:01 INFO: [Worker 0] Sampled task 'Open the two-door white fridge' [task_sampler.py: 1136] +05/09 22:48:01 INFO: [Worker 0] Worker 0 house 1 episode 55/60 collected=0/10 [pipeline.py: 1044] +05/09 22:48:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/09 22:48:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:48:01 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:48:01 INFO: [Worker 0] Collision-checked 388 grasps in 0.078s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:48:02 INFO: [Worker 0] Worker 0 house 1 episode 58 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:48:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.971s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:48:03 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.521[m] 76.891[deg] [grasp_sample.py: 539] +05/09 22:48:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:48:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:48:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:48:28 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:48:28 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes [pipeline.py: 238] +05/09 22:48:28 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/09 22:48:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:48:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:48:41 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.69s (batch: 4.39s, save: 9.30s) [pipeline.py: 300] +05/09 22:48:42 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.41s: + episode_total: mean=208.29s, total=208.29s, count=1, min=208289.7ms, max=208289.7ms + sensor_polling: mean=526.2ms, total=154.70s, count=294, min=453.2ms, max=933.8ms + save_trajectories: mean=9.30s, total=9.30s, count=1, min=9297.2ms, max=9297.2ms + physics_step: mean=29.1ms, total=8.56s, count=294, min=17.5ms, max=124.3ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4393.4ms, max=4393.4ms + task_sampling: mean=413.7ms, total=413.7ms, count=1, min=413.7ms, max=413.7ms + task_specific_sample: mean=409.7ms, total=409.7ms, count=1, min=409.7ms, max=409.7ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=436.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:48:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:48:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:48:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:48:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:48:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:48:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:48:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:48:44 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:48:44 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:48:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:48:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024373m [env.py: 870] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:48:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02209037 0.11408831 -0.02437314] yaw=155.3deg [env.py: 1019] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98929077 0.1734125 -0.02437314] yaw=155.7deg [env.py: 1019] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.02589931 1.00114332 -0.02437314] yaw=-146.4deg [env.py: 1019] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:48:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.6ms, total=235.6ms [env.py: 1075] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 0.114, -0.024) [env.py: 1079] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.3 deg [env.py: 1082] +05/09 22:48:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/09 22:48:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:48:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:48:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:48:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:48:44 INFO: [Worker 0] Sampled task 'Open the white two-door refrigerator with handles' [task_sampler.py: 1136] +05/09 22:48:44 INFO: [Worker 0] Worker 0 house 1 episode 59/60 collected=0/10 [pipeline.py: 1044] +05/09 22:48:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/09 22:48:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:48:44 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:48:44 INFO: [Worker 0] Collision-checked 388 grasps in 0.099s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:48:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.496s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:48:45 INFO: [Worker 0] Feasible grasp found 300 (originally 106): w/ 0.555[m] 98.333[deg] [grasp_sample.py: 539] +05/09 22:48:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:48:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:48:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:48:54 INFO: [Worker 0] Worker 0 house 1 episode 58 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:49:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:49:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:49:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:49:14 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:49:14 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes [pipeline.py: 238] +05/09 22:49:14 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/09 22:49:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/09 22:49:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/09 22:49:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:49:26 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:49:26 INFO: [Worker 0] Collision-checked 388 grasps in 0.123s, found 320 non-colliding grasps [grasp_sample.py: 465] +05/09 22:49:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:49:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:49:28 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.98s (batch: 4.15s, save: 9.83s) [pipeline.py: 300] +05/09 22:49:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.469s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:49:29 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.081[m] 4.553[deg] [grasp_sample.py: 539] +05/09 22:49:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:49:29 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.85s: + episode_total: mean=198.15s, total=198.15s, count=1, min=198154.4ms, max=198154.4ms + sensor_polling: mean=541.0ms, total=148.76s, count=275, min=454.6ms, max=1076.0ms + save_trajectories: mean=9.83s, total=9.83s, count=1, min=9832.5ms, max=9832.5ms + physics_step: mean=30.7ms, total=8.45s, count=275, min=20.4ms, max=133.3ms + save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4148.7ms, max=4148.7ms + task_sampling: mean=845.1ms, total=845.1ms, count=1, min=845.1ms, max=845.1ms + task_specific_sample: mean=840.2ms, total=840.2ms, count=1, min=840.2ms, max=840.2ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=526.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:49:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:49:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:49:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:49:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:49:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:49:31 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:49:31 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:49:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:49:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003134m [env.py: 870] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:49:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.19920011 0.95097219 0.00313437] yaw=-131.8deg [env.py: 1019] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03926046 0.09545701 0.00313437] yaw=148.8deg [env.py: 1019] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.07588843 0.15486713 0.00313437] yaw=150.9deg [env.py: 1019] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:49:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.6ms, total=198.6ms [env.py: 1075] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.199, 0.951, 0.003) [env.py: 1079] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.8 deg [env.py: 1082] +05/09 22:49:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/09 22:49:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:49:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:49:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:49:31 INFO: [Worker 0] Sampled task 'Open the white refrigerator with dark trim' [task_sampler.py: 1136] +05/09 22:49:31 INFO: [Worker 0] Worker 0 house 1 episode 59/60 collected=0/10 [pipeline.py: 1044] +05/09 22:49:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/09 22:49:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:49:32 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:49:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:32 INFO: [Worker 0] Collision-checked 388 grasps in 0.111s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:49:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.556s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:49:32 INFO: [Worker 0] Feasible grasp found 146 (originally 146): w/ 0.439[m] 85.107[deg] [grasp_sample.py: 539] +05/09 22:49:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:49:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:49:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:49:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/09 22:49:41 INFO: [Worker 0] Worker 0 house 1 episode 57 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:49:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:50:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:50:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:50:09 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:50:09 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes [pipeline.py: 238] +05/09 22:50:09 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/09 22:50:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:50:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:50:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:50:24 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.48s (batch: 4.64s, save: 10.84s) [pipeline.py: 300] +05/09 22:50:25 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.42s: + episode_total: mean=120.05s, total=240.11s, count=2, min=228.5ms, max=239880.0ms + sensor_polling: mean=539.9ms, total=161.98s, count=300, min=455.8ms, max=1124.0ms + save_trajectories: mean=10.84s, total=10.84s, count=1, min=10841.7ms, max=10841.7ms + physics_step: mean=28.4ms, total=8.53s, count=300, min=17.2ms, max=126.1ms + save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4642.7ms, max=4642.7ms + task_specific_sample: mean=317.1ms, total=634.3ms, count=2, min=214.4ms, max=419.9ms + task_sampling: mean=422.9ms, total=422.9ms, count=1, min=422.9ms, max=422.9ms + task_sampling_failed: mean=228.4ms, total=228.4ms, count=1, min=228.4ms, max=228.4ms + scene_randomize: mean=2.4ms, total=4.7ms, count=2, min=1.2ms, max=3.5ms + mj_forward_sync: mean=507.0us, total=1.0ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:50:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:50:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:50:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:50:27 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:50:27 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:50:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:50:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039626m [env.py: 870] +05/09 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:50:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02279332 0.71393448 0.03962609] yaw=-151.5deg [env.py: 1019] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93132408 0.90368666 0.03962609] yaw=-161.1deg [env.py: 1019] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06306414 0.15055003 0.03962609] yaw=155.8deg [env.py: 1019] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:50:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=457.3ms, total=457.3ms [env.py: 1075] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.023, 0.714, 0.040) [env.py: 1079] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.5 deg [env.py: 1082] +05/09 22:50:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/09 22:50:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:50:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:50:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:50:28 INFO: [Worker 0] Sampled task 'Open the white fridge' [task_sampler.py: 1136] +05/09 22:50:28 INFO: [Worker 0] Worker 0 house 1 episode 58/60 collected=0/10 [pipeline.py: 1044] +05/09 22:50:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/09 22:50:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:50:28 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:50:28 INFO: [Worker 0] Collision-checked 388 grasps in 0.110s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:50:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.132s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:50:29 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.451[m] 89.582[deg] [grasp_sample.py: 539] +05/09 22:50:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:50:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:50:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:50:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:50:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:50:54 INFO: [Worker 0] Worker 0 house 1 episode 55 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:51:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:51:21 INFO: [Worker 0] Saved videos eagerly for episode 52 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:51:21 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes [pipeline.py: 238] +05/09 22:51:21 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/09 22:51:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:51:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:51:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:51:36 INFO: [Worker 0] Successfully saved trajectory data for sim in 15.00s (batch: 5.10s, save: 9.90s) [pipeline.py: 300] +05/09 22:51:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:51:37 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.42s: + episode_total: mean=216.11s, total=216.11s, count=1, min=216113.5ms, max=216113.5ms + sensor_polling: mean=536.3ms, total=159.28s, count=297, min=459.6ms, max=1036.5ms + save_trajectories: mean=9.90s, total=9.90s, count=1, min=9898.0ms, max=9898.0ms + physics_step: mean=26.8ms, total=7.96s, count=297, min=19.0ms, max=75.7ms + save_batch_prep: mean=5.10s, total=5.10s, count=1, min=5101.0ms, max=5101.0ms + task_sampling: mean=421.0ms, total=421.0ms, count=1, min=421.0ms, max=421.0ms + task_specific_sample: mean=417.1ms, total=417.1ms, count=1, min=417.1ms, max=417.1ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=429.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:51:38 INFO: [Worker 0] Worker 0 house 1 episode 59 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:51:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:51:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:51:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:51:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:51:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:51:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:51:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:51:38 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:51:38 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:51:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:51:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019542m [env.py: 870] +05/09 22:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:51:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94758647 0.30782371 -0.01954195] yaw=181.2deg [env.py: 1019] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85692875 0.35673435 -0.01954195] yaw=174.3deg [env.py: 1019] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92494239 0.72265167 -0.01954195] yaw=-160.2deg [env.py: 1019] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:51:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.1ms, total=203.1ms [env.py: 1075] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.308, -0.020) [env.py: 1079] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.2 deg [env.py: 1082] +05/09 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/09 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:51:39 INFO: [Worker 0] Sampled task 'Open the household appliance' [task_sampler.py: 1136] +05/09 22:51:39 INFO: [Worker 0] Worker 0 house 1 episode 56/60 collected=0/10 [pipeline.py: 1044] +05/09 22:51:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/09 22:51:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:51:39 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:51:39 INFO: [Worker 0] Collision-checked 388 grasps in 0.068s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:51:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.565s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:51:40 INFO: [Worker 0] Feasible grasp found 337 (originally 143): w/ 0.550[m] 93.066[deg] [grasp_sample.py: 539] +05/09 22:51:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:51:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:51:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:52:01 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:52:01 INFO: [Worker 0] Batching and saving trajectory data for sim batch 1/4: 1 episodes [pipeline.py: 238] +05/09 22:52:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/09 22:52:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:52:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:52:15 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.83s (batch: 4.36s, save: 9.47s) [pipeline.py: 300] +05/09 22:52:16 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.55s: + episode_total: mean=211.80s, total=211.80s, count=1, min=211804.7ms, max=211804.7ms + sensor_polling: mean=536.7ms, total=161.02s, count=300, min=453.5ms, max=883.6ms + save_trajectories: mean=9.47s, total=9.47s, count=1, min=9475.0ms, max=9475.0ms + physics_step: mean=27.2ms, total=8.15s, count=300, min=19.3ms, max=128.2ms + save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.4ms, max=4358.4ms + task_sampling: mean=551.8ms, total=551.8ms, count=1, min=551.8ms, max=551.8ms + task_specific_sample: mean=547.8ms, total=547.8ms, count=1, min=547.8ms, max=547.8ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=404.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:52:16 INFO: [Worker 0] Worker 0 house 1 episode 59 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:52:17 WARNING: [Worker 0] No trajectory data to save for sim [pipeline.py: 234] +05/09 22:52:17 WARNING: [Worker 0] No trajectory data to save for sim [pipeline.py: 234] +05/09 22:52:17 INFO: [Worker 0] Worker 0 completed house 1: 56/56 successful episodes [pipeline.py: 1323] +05/09 22:52:17 INFO: [Worker 0] [PROFILE] House 1 complete: 56/56 successful, 56 episodes, total_time=19495.96s + House averages: + episode_total: mean=176.04s, total=10562.53s, count=60, min=190.8ms, max=240859.4ms + sensor_polling: mean=474.3ms, total=7762.39s, count=16367, min=366.3ms, max=1093.2ms + save_trajectories: mean=9.50s, total=465.74s, count=49, min=7589.3ms, max=13025.0ms + physics_step: mean=24.0ms, total=393.23s, count=16367, min=13.5ms, max=270.3ms + save_batch_prep: mean=4.26s, total=238.66s, count=56, min=3466.0ms, max=5828.5ms + task_sampling: mean=574.6ms, total=33.90s, count=59, min=337.9ms, max=4721.8ms + task_specific_sample: mean=494.7ms, total=29.68s, count=60, min=185.4ms, max=966.7ms + scene_load: mean=4.17s, total=4.17s, count=1, min=4172.6ms, max=4172.6ms + scene_env_create: mean=2.66s, total=2.66s, count=1, min=2658.0ms, max=2658.0ms + scene_compile: mean=1.03s, total=1.03s, count=1, min=1029.9ms, max=1029.9ms + compile_mujoco: mean=706.2ms, total=706.2ms, count=1, min=706.2ms, max=706.2ms + scene_init: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms + compile_xml_load: mean=240.6ms, total=240.6ms, count=1, min=240.6ms, max=240.6ms + task_sampling_failed: mean=190.8ms, total=190.8ms, count=1, min=190.8ms, max=190.8ms + scene_randomize: mean=2.5ms, total=150.7ms, count=60, min=1.3ms, max=5.9ms + compile_aux_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms + compile_aux_policy_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms + scene_asset_install: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms + asset_install_grasps: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms + mj_forward_sync: mean=439.0us, total=26.3ms, count=60, min=0.4ms, max=0.6ms + compile_robot_add: mean=20.7ms, total=20.7ms, count=1, min=20.7ms, max=20.7ms + asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms + asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + policy_setup: mean=19.4us, total=1.1ms, count=59, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/09 22:52:17 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/09 22:52:17 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 56 episodes, total_time=19495.96s + Worker averages: + episode_total: mean=176.04s, total=10562.53s, count=60, min=190.8ms, max=240859.4ms + sensor_polling: mean=474.3ms, total=7762.39s, count=16367, min=366.3ms, max=1093.2ms + save_trajectories: mean=9.50s, total=465.74s, count=49, min=7589.3ms, max=13025.0ms + physics_step: mean=24.0ms, total=393.23s, count=16367, min=13.5ms, max=270.3ms + save_batch_prep: mean=4.26s, total=238.66s, count=56, min=3466.0ms, max=5828.5ms + task_sampling: mean=574.6ms, total=33.90s, count=59, min=337.9ms, max=4721.8ms + task_specific_sample: mean=494.7ms, total=29.68s, count=60, min=185.4ms, max=966.7ms + scene_load: mean=4.17s, total=4.17s, count=1, min=4172.6ms, max=4172.6ms + scene_env_create: mean=2.66s, total=2.66s, count=1, min=2658.0ms, max=2658.0ms + scene_compile: mean=1.03s, total=1.03s, count=1, min=1029.9ms, max=1029.9ms + compile_mujoco: mean=706.2ms, total=706.2ms, count=1, min=706.2ms, max=706.2ms + scene_init: mean=439.2ms, total=439.2ms, count=1, min=439.2ms, max=439.2ms + compile_xml_load: mean=240.6ms, total=240.6ms, count=1, min=240.6ms, max=240.6ms + task_sampling_failed: mean=190.8ms, total=190.8ms, count=1, min=190.8ms, max=190.8ms + scene_randomize: mean=2.5ms, total=150.7ms, count=60, min=1.3ms, max=5.9ms + compile_aux_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms + compile_aux_policy_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms + scene_asset_install: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms + asset_install_grasps: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms + mj_forward_sync: mean=439.0us, total=26.3ms, count=60, min=0.4ms, max=0.6ms + compile_robot_add: mean=20.7ms, total=20.7ms, count=1, min=20.7ms, max=20.7ms + asset_install_objects: mean=10.8ms, total=10.8ms, count=1, min=10.8ms, max=10.8ms + asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + policy_setup: mean=19.4us, total=1.1ms, count=59, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/09 22:52:20 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/09 22:52:20 INFO: Success count: 56, Total count: 56 [pipeline.py: 1491] +05/09 22:52:20 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/09 22:52:38 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:52:38 INFO: [Worker 0] Batching and saving trajectory data for sim batch 3/4: 1 episodes [pipeline.py: 238] +05/09 22:52:38 INFO: [Worker 0] Preparing episode data: 285 timesteps [save_utils.py: 278] +05/09 22:52:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:52:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:52:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:52:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:52:53 INFO: [Worker 0] Successfully saved trajectory data for sim in 14.83s (batch: 4.18s, save: 10.65s) [pipeline.py: 300] +05/09 22:52:54 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.55s: + episode_total: mean=202.93s, total=202.93s, count=1, min=202933.2ms, max=202933.2ms + sensor_polling: mean=532.4ms, total=151.21s, count=284, min=445.6ms, max=1060.7ms + save_trajectories: mean=10.65s, total=10.65s, count=1, min=10651.8ms, max=10651.8ms + physics_step: mean=29.1ms, total=8.27s, count=284, min=16.3ms, max=119.9ms + save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4181.9ms, max=4181.9ms + task_sampling: mean=553.4ms, total=553.4ms, count=1, min=553.4ms, max=553.4ms + task_specific_sample: mean=548.9ms, total=548.9ms, count=1, min=548.9ms, max=548.9ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=538.4us, 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] +05/09 22:52:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:52:56 WARNING: [Worker 0] No trajectory data to save for sim [pipeline.py: 234] +05/09 22:52:56 WARNING: [Worker 0] No trajectory data to save for sim [pipeline.py: 234] +05/09 22:52:56 INFO: [Worker 0] Worker 0 completed house 1: 54/54 successful episodes [pipeline.py: 1323] +05/09 22:52:56 INFO: [Worker 0] [PROFILE] House 1 complete: 54/54 successful, 54 episodes, total_time=19509.52s + House averages: + episode_total: mean=176.69s, total=10601.59s, count=60, min=196.8ms, max=233498.9ms + sensor_polling: mean=476.5ms, total=7775.07s, count=16316, min=372.6ms, max=1159.9ms + save_trajectories: mean=9.13s, total=429.21s, count=47, min=6796.4ms, max=11925.6ms + physics_step: mean=25.0ms, total=407.92s, count=16316, min=14.0ms, max=164.5ms + save_batch_prep: mean=4.12s, total=222.35s, count=54, min=3405.2ms, max=5499.4ms + task_sampling: mean=574.6ms, total=33.90s, count=59, min=327.1ms, max=4798.4ms + task_specific_sample: mean=499.1ms, total=29.94s, count=60, min=180.0ms, max=889.6ms + scene_load: mean=3.91s, total=3.91s, count=1, min=3905.6ms, max=3905.6ms + scene_env_create: mean=2.53s, total=2.53s, count=1, min=2532.1ms, max=2532.1ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1250.8ms, max=1250.8ms + compile_mujoco: mean=692.2ms, total=692.2ms, count=1, min=692.2ms, max=692.2ms + compile_xml_load: mean=475.5ms, total=475.5ms, count=1, min=475.5ms, max=475.5ms + task_sampling_failed: mean=196.8ms, total=196.8ms, count=1, min=196.8ms, max=196.8ms + scene_randomize: mean=2.6ms, total=153.5ms, count=60, min=1.1ms, max=3.5ms + scene_init: mean=77.3ms, total=77.3ms, count=1, min=77.3ms, max=77.3ms + compile_aux_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms + compile_aux_policy_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms + scene_asset_install: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms + asset_install_grasps: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms + mj_forward_sync: mean=467.7us, total=28.1ms, count=60, min=0.4ms, max=0.9ms + compile_robot_add: mean=20.7ms, total=20.7ms, count=1, min=20.7ms, max=20.7ms + asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms + asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + policy_setup: mean=18.5us, total=1.1ms, count=59, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/09 22:52:56 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/09 22:52:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 54 episodes, total_time=19509.52s + Worker averages: + episode_total: mean=176.69s, total=10601.59s, count=60, min=196.8ms, max=233498.9ms + sensor_polling: mean=476.5ms, total=7775.07s, count=16316, min=372.6ms, max=1159.9ms + save_trajectories: mean=9.13s, total=429.21s, count=47, min=6796.4ms, max=11925.6ms + physics_step: mean=25.0ms, total=407.92s, count=16316, min=14.0ms, max=164.5ms + save_batch_prep: mean=4.12s, total=222.35s, count=54, min=3405.2ms, max=5499.4ms + task_sampling: mean=574.6ms, total=33.90s, count=59, min=327.1ms, max=4798.4ms + task_specific_sample: mean=499.1ms, total=29.94s, count=60, min=180.0ms, max=889.6ms + scene_load: mean=3.91s, total=3.91s, count=1, min=3905.6ms, max=3905.6ms + scene_env_create: mean=2.53s, total=2.53s, count=1, min=2532.1ms, max=2532.1ms + scene_compile: mean=1.25s, total=1.25s, count=1, min=1250.8ms, max=1250.8ms + compile_mujoco: mean=692.2ms, total=692.2ms, count=1, min=692.2ms, max=692.2ms + compile_xml_load: mean=475.5ms, total=475.5ms, count=1, min=475.5ms, max=475.5ms + task_sampling_failed: mean=196.8ms, total=196.8ms, count=1, min=196.8ms, max=196.8ms + scene_randomize: mean=2.6ms, total=153.5ms, count=60, min=1.1ms, max=3.5ms + scene_init: mean=77.3ms, total=77.3ms, count=1, min=77.3ms, max=77.3ms + compile_aux_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms + compile_aux_policy_objects: mean=52.0ms, total=52.0ms, count=1, min=52.0ms, max=52.0ms + scene_asset_install: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms + asset_install_grasps: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms + mj_forward_sync: mean=467.7us, total=28.1ms, count=60, min=0.4ms, max=0.9ms + compile_robot_add: mean=20.7ms, total=20.7ms, count=1, min=20.7ms, max=20.7ms + asset_install_objects: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms + asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + policy_setup: mean=18.5us, total=1.1ms, count=59, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/09 22:52:59 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/09 22:52:59 INFO: Success count: 54, Total count: 54 [pipeline.py: 1491] +05/09 22:52:59 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/09 22:53:11 INFO: [Worker 0] Worker 0 house 1 episode 58 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:53:37 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:53:37 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes [pipeline.py: 238] +05/09 22:53:37 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/09 22:53:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:53:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:53:50 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.37s (batch: 4.31s, save: 8.06s) [pipeline.py: 300] +05/09 22:53:50 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.80s: + episode_total: mean=203.10s, total=203.10s, count=1, min=203101.1ms, max=203101.1ms + sensor_polling: mean=523.5ms, total=150.25s, count=287, min=460.2ms, max=979.1ms + save_trajectories: mean=8.06s, total=8.06s, count=1, min=8060.6ms, max=8060.6ms + physics_step: mean=27.9ms, total=8.00s, count=287, min=19.4ms, max=66.2ms + save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4310.9ms, max=4310.9ms + task_sampling: mean=802.3ms, total=802.3ms, count=1, min=802.3ms, max=802.3ms + task_specific_sample: mean=798.1ms, total=798.1ms, count=1, min=798.1ms, max=798.1ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=535.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:53:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:53:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:53:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:53:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:53:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:53:52 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:53:52 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:53:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:53:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037612m [env.py: 870] +05/09 22:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:53:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13561051 0.11153631 -0.03761212] yaw=144.1deg [env.py: 1019] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13631608 0.18578078 -0.03761212] yaw=164.9deg [env.py: 1019] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.88255922 0.57359262 -0.03761212] yaw=-180.0deg [env.py: 1019] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:53:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=565.1ms, total=565.1ms [env.py: 1075] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.136, 0.112, -0.038) [env.py: 1079] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.1 deg [env.py: 1082] +05/09 22:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.739m [env.py: 1086] +05/09 22:53:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:53:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:53:53 INFO: [Worker 0] Sampled task 'Open the refrigerator' [task_sampler.py: 1136] +05/09 22:53:53 INFO: [Worker 0] Worker 0 house 1 episode 59/60 collected=0/10 [pipeline.py: 1044] +05/09 22:53:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/09 22:53:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:53:53 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:53:53 INFO: [Worker 0] Collision-checked 388 grasps in 0.067s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:53:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.856s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:53:54 INFO: [Worker 0] Feasible grasp found 328 (originally 134): w/ 0.410[m] 86.746[deg] [grasp_sample.py: 539] +05/09 22:53:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:53:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:53:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:54:27 INFO: [Worker 0] Worker 0 house 1 episode 56 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:54:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:54:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:54:49 INFO: [Worker 0] Saved videos eagerly for episode 53 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:54:49 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes [pipeline.py: 238] +05/09 22:54:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/09 22:54:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:55:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:55:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:55:02 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.02s (batch: 4.33s, save: 8.69s) [pipeline.py: 300] +05/09 22:55:03 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.52s: + episode_total: mean=204.56s, total=204.56s, count=1, min=204564.3ms, max=204564.3ms + sensor_polling: mean=518.3ms, total=155.48s, count=300, min=444.5ms, max=914.9ms + save_trajectories: mean=8.69s, total=8.69s, count=1, min=8690.6ms, max=8690.6ms + physics_step: mean=26.6ms, total=7.99s, count=300, min=19.2ms, max=109.3ms + save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4331.6ms, max=4331.6ms + task_sampling: mean=520.0ms, total=520.0ms, count=1, min=520.0ms, max=520.0ms + task_specific_sample: mean=515.3ms, total=515.3ms, count=1, min=515.3ms, max=515.3ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=606.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:55:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:55:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:55:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:55:05 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:55:05 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:55:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:55:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009658m [env.py: 870] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:55:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94072982 0.4145127 0.00965847] yaw=183.3deg [env.py: 1019] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06690663 0.86295132 0.00965847] yaw=-145.8deg [env.py: 1019] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:55:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=303.5ms, total=303.5ms [env.py: 1075] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.415, 0.010) [env.py: 1079] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.3 deg [env.py: 1082] +05/09 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/09 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:55:05 INFO: [Worker 0] Sampled task 'Open the white fridge' [task_sampler.py: 1136] +05/09 22:55:05 INFO: [Worker 0] Worker 0 house 1 episode 57/60 collected=0/10 [pipeline.py: 1044] +05/09 22:55:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/09 22:55:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:55:06 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:55:06 INFO: [Worker 0] Collision-checked 388 grasps in 0.111s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:55:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.562s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:55:06 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.514[m] 92.453[deg] [grasp_sample.py: 539] +05/09 22:55:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:55:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:55:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:56:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:56:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:56:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 22:56:27 INFO: [Worker 0] Worker 0 house 1 episode 59 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:56:50 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:56:50 INFO: [Worker 0] Batching and saving trajectory data for sim batch 2/4: 1 episodes [pipeline.py: 238] +05/09 22:56:50 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/09 22:57:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:57:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:57:04 INFO: [Worker 0] Successfully saved trajectory data for sim in 13.87s (batch: 4.61s, save: 9.26s) [pipeline.py: 300] +05/09 22:57:05 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.91s: + episode_total: mean=192.28s, total=192.28s, count=1, min=192279.6ms, max=192279.6ms + sensor_polling: mean=498.0ms, total=137.94s, count=277, min=443.5ms, max=826.6ms + save_trajectories: mean=9.26s, total=9.26s, count=1, min=9260.9ms, max=9260.9ms + physics_step: mean=25.5ms, total=7.06s, count=277, min=18.4ms, max=77.3ms + save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.6ms, max=4607.6ms + task_sampling: mean=914.8ms, total=914.8ms, count=1, min=914.8ms, max=914.8ms + task_specific_sample: mean=910.0ms, total=910.0ms, count=1, min=910.0ms, max=910.0ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=594.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:57:06 WARNING: [Worker 0] No trajectory data to save for sim [pipeline.py: 234] +05/09 22:57:06 WARNING: [Worker 0] No trajectory data to save for sim [pipeline.py: 234] +05/09 22:57:06 INFO: [Worker 0] Worker 0 completed house 1: 55/55 successful episodes [pipeline.py: 1323] +05/09 22:57:06 INFO: [Worker 0] [PROFILE] House 1 complete: 55/55 successful, 55 episodes, total_time=19973.68s + House averages: + episode_total: mean=180.87s, total=10852.03s, count=60, min=228.5ms, max=240323.5ms + sensor_polling: mean=476.6ms, total=7984.38s, count=16754, min=373.8ms, max=1203.2ms + save_trajectories: mean=9.09s, total=436.41s, count=48, min=6907.3ms, max=14032.3ms + physics_step: mean=23.6ms, total=395.84s, count=16754, min=13.4ms, max=134.3ms + save_batch_prep: mean=4.24s, total=233.43s, count=55, min=3610.4ms, max=5642.7ms + task_sampling: mean=564.5ms, total=33.31s, count=59, min=334.6ms, max=4251.7ms + task_specific_sample: mean=498.4ms, total=29.91s, count=60, min=214.4ms, max=945.6ms + scene_load: mean=3.38s, total=3.38s, count=1, min=3384.2ms, max=3384.2ms + scene_env_create: mean=2.16s, total=2.16s, count=1, min=2161.3ms, max=2161.3ms + scene_compile: mean=1.11s, total=1.11s, count=1, min=1108.6ms, max=1108.6ms + compile_mujoco: mean=739.0ms, total=739.0ms, count=1, min=739.0ms, max=739.0ms + compile_xml_load: mean=292.5ms, total=292.5ms, count=1, min=292.5ms, max=292.5ms + task_sampling_failed: mean=228.4ms, total=228.4ms, count=1, min=228.4ms, max=228.4ms + scene_randomize: mean=2.6ms, total=153.7ms, count=60, min=1.2ms, max=5.9ms + scene_init: mean=69.9ms, total=69.9ms, count=1, min=69.9ms, max=69.9ms + compile_aux_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms + compile_aux_policy_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms + scene_asset_install: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms + asset_install_grasps: mean=30.5ms, total=30.5ms, count=1, min=30.5ms, max=30.5ms + mj_forward_sync: mean=458.4us, total=27.5ms, count=60, min=0.4ms, max=1.0ms + asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms + compile_robot_add: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + policy_setup: mean=18.6us, total=1.1ms, count=59, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/09 22:57:06 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/09 22:57:06 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 55 episodes, total_time=19973.68s + Worker averages: + episode_total: mean=180.87s, total=10852.03s, count=60, min=228.5ms, max=240323.5ms + sensor_polling: mean=476.6ms, total=7984.38s, count=16754, min=373.8ms, max=1203.2ms + save_trajectories: mean=9.09s, total=436.41s, count=48, min=6907.3ms, max=14032.3ms + physics_step: mean=23.6ms, total=395.84s, count=16754, min=13.4ms, max=134.3ms + save_batch_prep: mean=4.24s, total=233.43s, count=55, min=3610.4ms, max=5642.7ms + task_sampling: mean=564.5ms, total=33.31s, count=59, min=334.6ms, max=4251.7ms + task_specific_sample: mean=498.4ms, total=29.91s, count=60, min=214.4ms, max=945.6ms + scene_load: mean=3.38s, total=3.38s, count=1, min=3384.2ms, max=3384.2ms + scene_env_create: mean=2.16s, total=2.16s, count=1, min=2161.3ms, max=2161.3ms + scene_compile: mean=1.11s, total=1.11s, count=1, min=1108.6ms, max=1108.6ms + compile_mujoco: mean=739.0ms, total=739.0ms, count=1, min=739.0ms, max=739.0ms + compile_xml_load: mean=292.5ms, total=292.5ms, count=1, min=292.5ms, max=292.5ms + task_sampling_failed: mean=228.4ms, total=228.4ms, count=1, min=228.4ms, max=228.4ms + scene_randomize: mean=2.6ms, total=153.7ms, count=60, min=1.2ms, max=5.9ms + scene_init: mean=69.9ms, total=69.9ms, count=1, min=69.9ms, max=69.9ms + compile_aux_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms + compile_aux_policy_objects: mean=56.3ms, total=56.3ms, count=1, min=56.3ms, max=56.3ms + scene_asset_install: mean=44.1ms, total=44.1ms, count=1, min=44.1ms, max=44.1ms + asset_install_grasps: mean=30.5ms, total=30.5ms, count=1, min=30.5ms, max=30.5ms + mj_forward_sync: mean=458.4us, total=27.5ms, count=60, min=0.4ms, max=1.0ms + asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms + compile_robot_add: mean=10.7ms, total=10.7ms, count=1, min=10.7ms, max=10.7ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + policy_setup: mean=18.6us, total=1.1ms, count=59, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/09 22:57:09 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/09 22:57:09 INFO: Success count: 55, Total count: 55 [pipeline.py: 1491] +05/09 22:57:09 INFO: Success rate: 100.00% [pipeline.py: 1492] +05/09 22:57:49 INFO: [Worker 0] Worker 0 house 1 episode 57 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 22:58:10 INFO: [Worker 0] Saved videos eagerly for episode 54 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 22:58:10 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes [pipeline.py: 238] +05/09 22:58:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/09 22:58:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 22:58:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 22:58:22 INFO: [Worker 0] Successfully saved trajectory data for sim in 12.43s (batch: 4.11s, save: 8.32s) [pipeline.py: 300] +05/09 22:58:23 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.71s: + episode_total: mean=198.26s, total=198.26s, count=1, min=198261.7ms, max=198261.7ms + sensor_polling: mean=500.8ms, total=150.23s, count=300, min=434.2ms, max=973.1ms + physics_step: mean=28.0ms, total=8.39s, count=300, min=15.0ms, max=89.3ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8316.4ms, max=8316.4ms + save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4113.9ms, max=4113.9ms + task_sampling: mean=708.2ms, total=708.2ms, count=1, min=708.2ms, max=708.2ms + task_specific_sample: mean=703.1ms, total=703.1ms, count=1, min=703.1ms, max=703.1ms + scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=623.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 22:58:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 22:58:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 22:58:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:58:25 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 22:58:25 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 22:58:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 22:58:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041448m [env.py: 870] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 22:58:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12676641 0.61262014 0.04144777] yaw=-168.4deg [env.py: 1019] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.12439669 0.72024106 0.04144777] yaw=-153.0deg [env.py: 1019] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 22:58:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=274.4ms, total=274.5ms [env.py: 1075] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.127, 0.613, 0.041) [env.py: 1079] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.4 deg [env.py: 1082] +05/09 22:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m [env.py: 1086] +05/09 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 22:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 22:58:25 INFO: [Worker 0] Sampled task 'Open the white fridge' [task_sampler.py: 1136] +05/09 22:58:25 INFO: [Worker 0] Worker 0 house 1 episode 58/60 collected=0/10 [pipeline.py: 1044] +05/09 22:58:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/09 22:58:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 22:58:25 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 22:58:25 INFO: [Worker 0] Collision-checked 388 grasps in 0.072s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 22:58:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.441s, found feasible grasp: True [grasp_sample.py: 500] +05/09 22:58:26 INFO: [Worker 0] Feasible grasp found 376 (originally 182): w/ 0.292[m] 78.029[deg] [grasp_sample.py: 539] +05/09 22:58:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/09 22:58:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/09 22:58:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:58:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/09 22:59:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/09 22:59:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/09 23:00:40 INFO: [Worker 0] Worker 0 house 1 episode 58 object refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0 completed with success=True [pipeline.py: 1108] +05/09 23:00:58 INFO: [Worker 0] Saved videos eagerly for episode 55 to /scr/ravenh/fridge1_minimal_wall/sim [pipeline.py: 1174] +05/09 23:00:58 INFO: [Worker 0] Batching and saving trajectory data for sim batch 4/4: 1 episodes [pipeline.py: 238] +05/09 23:00:58 INFO: [Worker 0] Preparing episode data: 254 timesteps [save_utils.py: 278] +05/09 23:01:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/09 23:01:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge1_minimal_wall/sim [save_utils.py: 785] +05/09 23:01:09 INFO: [Worker 0] Successfully saved trajectory data for sim in 10.76s (batch: 3.86s, save: 6.90s) [pipeline.py: 300] +05/09 23:01:09 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.59s: + episode_total: mean=164.71s, total=164.71s, count=1, min=164710.3ms, max=164710.3ms + sensor_polling: mean=488.2ms, total=123.50s, count=253, min=388.1ms, max=930.1ms + physics_step: mean=27.6ms, total=6.99s, count=253, min=15.4ms, max=62.1ms + save_trajectories: mean=6.90s, total=6.90s, count=1, min=6901.5ms, max=6901.5ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3862.7ms, max=3862.7ms + task_sampling: mean=590.0ms, total=590.0ms, count=1, min=590.0ms, max=590.0ms + task_specific_sample: mean=586.0ms, total=586.0ms, count=1, min=586.0ms, max=586.0ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=388.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/09 23:01:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/09 23:01:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/09 23:01:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/09 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 23:01:11 WARNING: [Worker 0] No CLIP module, using dummy description scores. [object_manager.py: 1093] +05/09 23:01:11 INFO: [Worker 0] [OPEN] sorted candidate joints for refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_0_0: ['refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0', 'refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_4_0_Mesh78210b381_1'] [opening_task_samplers.py: 178] +05/09 23:01:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> refrigerator_5a1cb9d35791f7f9acfa7d661c12908e_1_2_0_joint_0 [opening_task_samplers.py: 187] +05/09 23:01:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.804, 0.425, 1.549) [env.py: 845] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011458m [env.py: 870] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.000m [env.py: 871] +05/09 23:01:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 9766 free points within sampling radius [env.py: 907] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95172392 0.90543218 -0.01145772] yaw=-142.1deg [env.py: 1019] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07806018 1.10539645 -0.01145772] yaw=-145.9deg [env.py: 1019] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.09129215 0.31213124 -0.01145772] yaw=180.0deg [env.py: 1019] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/09 23:01:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.8ms, total=159.8ms [env.py: 1075] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.952, 0.905, -0.011) [env.py: 1079] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.1 deg [env.py: 1082] +05/09 23:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/09 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/09 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/09 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/09 23:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/09 23:01:12 INFO: [Worker 0] Sampled task 'Open the refrigerator' [task_sampler.py: 1136] +05/09 23:01:12 INFO: [Worker 0] Worker 0 house 1 episode 59/60 collected=0/10 [pipeline.py: 1044] +05/09 23:01:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/09 23:01:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_1/Fridge_1_joint_grasps_filtered.npz [grasp_sample.py: 179] +05/09 23:01:12 INFO: [Worker 0] Loaded 388 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/09 23:01:12 INFO: [Worker 0] Collision-checked 388 grasps in 0.064s, found 388 non-colliding grasps [grasp_sample.py: 465] +05/09 23:01:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.274s, found feasible grasp: True [grasp_sample.py: 500] +05/09 23:01:13 INFO: [Worker 0] Feasible grasp found 177 (originally 177): w/ 0.585[m] 81.130[deg] [grasp_sample.py: 539] +05/09 23:01:14 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/09 23:01:16 WARNING: [Worker 0] No trajectory data to save for sim [pipeline.py: 234] +05/09 23:01:16 WARNING: [Worker 0] No trajectory data to save for sim [pipeline.py: 234] +05/09 23:01:16 INFO: [Worker 0] Worker 0 completed house 1: 56/56 successful episodes [pipeline.py: 1323] +05/09 23:01:16 INFO: [Worker 0] [PROFILE] House 1 complete: 56/56 successful, 56 episodes, total_time=20416.41s + House averages: + episode_total: mean=184.96s, total=11097.79s, count=60, min=2884.0ms, max=230259.2ms + sensor_polling: mean=477.1ms, total=8132.94s, count=17046, min=374.6ms, max=1201.1ms + save_trajectories: mean=9.08s, total=463.29s, count=51, min=6286.9ms, max=13036.3ms + physics_step: mean=24.2ms, total=412.88s, count=17046, min=12.6ms, max=147.4ms + save_batch_prep: mean=4.28s, total=239.55s, count=56, min=3607.6ms, max=6015.2ms + task_sampling: mean=547.8ms, total=32.87s, count=60, min=302.7ms, max=3717.3ms + task_specific_sample: mean=489.4ms, total=29.36s, count=60, min=299.9ms, max=1114.9ms + scene_load: mean=3.27s, total=3.27s, count=1, min=3273.6ms, max=3273.6ms + scene_env_create: mean=2.24s, total=2.24s, count=1, min=2242.9ms, max=2242.9ms + scene_compile: mean=913.4ms, total=913.4ms, count=1, min=913.4ms, max=913.4ms + compile_mujoco: mean=626.5ms, total=626.5ms, count=1, min=626.5ms, max=626.5ms + compile_xml_load: mean=212.3ms, total=212.3ms, count=1, min=212.3ms, max=212.3ms + scene_randomize: mean=2.6ms, total=153.2ms, count=60, min=1.1ms, max=3.7ms + scene_init: mean=66.0ms, total=66.0ms, count=1, min=66.0ms, max=66.0ms + compile_aux_objects: mean=55.0ms, total=55.0ms, count=1, min=55.0ms, max=55.0ms + compile_aux_policy_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms + scene_asset_install: mean=51.1ms, total=51.1ms, count=1, min=51.1ms, max=51.1ms + asset_install_grasps: mean=32.2ms, total=32.2ms, count=1, min=32.2ms, max=32.2ms + mj_forward_sync: mean=446.0us, total=26.8ms, count=60, min=0.4ms, max=0.6ms + asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms + compile_robot_add: mean=7.3ms, total=7.3ms, count=1, min=7.3ms, max=7.3ms + asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms + policy_setup: mean=20.2us, total=1.2ms, count=60, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/09 23:01:16 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/09 23:01:16 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 56 episodes, total_time=20416.41s + Worker averages: + episode_total: mean=184.96s, total=11097.79s, count=60, min=2884.0ms, max=230259.2ms + sensor_polling: mean=477.1ms, total=8132.94s, count=17046, min=374.6ms, max=1201.1ms + save_trajectories: mean=9.08s, total=463.29s, count=51, min=6286.9ms, max=13036.3ms + physics_step: mean=24.2ms, total=412.88s, count=17046, min=12.6ms, max=147.4ms + save_batch_prep: mean=4.28s, total=239.55s, count=56, min=3607.6ms, max=6015.2ms + task_sampling: mean=547.8ms, total=32.87s, count=60, min=302.7ms, max=3717.3ms + task_specific_sample: mean=489.4ms, total=29.36s, count=60, min=299.9ms, max=1114.9ms + scene_load: mean=3.27s, total=3.27s, count=1, min=3273.6ms, max=3273.6ms + scene_env_create: mean=2.24s, total=2.24s, count=1, min=2242.9ms, max=2242.9ms + scene_compile: mean=913.4ms, total=913.4ms, count=1, min=913.4ms, max=913.4ms + compile_mujoco: mean=626.5ms, total=626.5ms, count=1, min=626.5ms, max=626.5ms + compile_xml_load: mean=212.3ms, total=212.3ms, count=1, min=212.3ms, max=212.3ms + scene_randomize: mean=2.6ms, total=153.2ms, count=60, min=1.1ms, max=3.7ms + scene_init: mean=66.0ms, total=66.0ms, count=1, min=66.0ms, max=66.0ms + compile_aux_objects: mean=55.0ms, total=55.0ms, count=1, min=55.0ms, max=55.0ms + compile_aux_policy_objects: mean=54.9ms, total=54.9ms, count=1, min=54.9ms, max=54.9ms + scene_asset_install: mean=51.1ms, total=51.1ms, count=1, min=51.1ms, max=51.1ms + asset_install_grasps: mean=32.2ms, total=32.2ms, count=1, min=32.2ms, max=32.2ms + mj_forward_sync: mean=446.0us, total=26.8ms, count=60, min=0.4ms, max=0.6ms + asset_install_objects: mean=14.7ms, total=14.7ms, count=1, min=14.7ms, max=14.7ms + compile_robot_add: mean=7.3ms, total=7.3ms, count=1, min=7.3ms, max=7.3ms + asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms + policy_setup: mean=20.2us, total=1.2ms, count=60, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=59, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/09 23:01:19 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/09 23:01:19 INFO: Success count: 56, Total count: 56 [pipeline.py: 1491] +05/09 23:01:19 INFO: Success rate: 100.00% [pipeline.py: 1492] diff --git a/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..abc89199381e262665767990019588199ddab8d8 --- /dev/null +++ b/fridge1_minimal_wall/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:476710e4dcdd3d45562ae89074a1cb5f50c4af104c73ad218fb2d4745b46642b +size 4153004260 diff --git a/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5 b/fridge1_minimal_wall/trajectories_batch_2_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dddd32cefc3cdddb6729d22193b6002b555f51ab --- /dev/null +++ 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