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2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40074, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.1, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.85, 1.3), + 'base_pose_sampling_theta_range_rad': (-0.5, 1.0), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [2], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 15:42:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 15:42:55 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:42:55 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1) [pipeline.py: 464] +05/18 15:42:55 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:42:58 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan2_physics.xml [task_sampler.py: 797] +05/18 15:42:58 INFO: [Worker 0] Setting up scene for house 2, task None... [pick_task_sampler.py: 197] +05/18 15:42:58 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:42:58 INFO: [Worker 0] Resolving Fridge_7_upside_down_root grasp uid Fridge_m_2 -> Fridge_m via name_map [pick_task_sampler.py: 917] +05/18 15:42:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:42:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:42:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:42:58 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:42:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:42:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:42:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076562m [env.py: 870] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:42:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.32976817 -0.34790458 0.07656242] yaw=-124.9deg [env.py: 1019] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.16018928 -1.0265927 0.07656242] yaw=163.8deg [env.py: 1019] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.00472833 -0.85044685 0.07656242] yaw=-164.9deg [env.py: 1019] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:42:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=12.2ms, retries=93.2ms, total=105.4ms [env.py: 1075] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.330, -0.348, 0.077) [env.py: 1079] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.9 deg [env.py: 1082] +05/18 15:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m [env.py: 1086] +05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:42:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:42:58 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:21 INFO: [Worker 0] Warmed up parallel IK solver in 22.457s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.998s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:43:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.592[m] 100.900[deg] [grasp_sample.py: 596] +05/18 15:43:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:43:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:43:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:43:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:43:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:43:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:43:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:29 INFO: [Worker 0] Worker 0 house 2 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:44:42 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 15:44:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:44:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:44:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:44:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 15:44:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.34s (batch: 2.52s, save: 6.82s) [pipeline.py: 300] +05/18 15:44:52 INFO: [Worker 0] [PROFILE] Episode 0 house 2 success=True episode_total=3.38s: + episode_total: mean=117.33s, total=117.33s, count=1, min=117327.3ms, max=117327.3ms + sensor_polling: mean=203.3ms, total=60.99s, count=300, min=188.2ms, max=365.3ms + save_trajectories: mean=6.82s, total=6.82s, count=1, min=6821.0ms, max=6821.0ms + physics_step: mean=13.5ms, total=4.06s, count=300, min=11.1ms, max=15.8ms + task_sampling: mean=3.38s, total=3.38s, count=1, min=3377.7ms, max=3377.7ms + scene_load: mean=3.08s, total=3.08s, count=1, min=3080.5ms, max=3080.5ms + save_batch_prep: mean=2.52s, total=2.52s, count=1, min=2516.9ms, max=2516.9ms + scene_env_create: mean=1.88s, total=1.88s, count=1, min=1880.9ms, max=1880.9ms + scene_compile: mean=1.10s, total=1.10s, count=1, min=1097.5ms, max=1097.5ms + compile_mujoco: mean=656.0ms, total=656.0ms, count=1, min=656.0ms, max=656.0ms + compile_xml_load: mean=376.3ms, total=376.3ms, count=1, min=376.3ms, max=376.3ms + task_specific_sample: mean=294.8ms, total=294.8ms, count=1, min=294.8ms, max=294.8ms + scene_init: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms + scene_asset_install: mean=39.9ms, total=39.9ms, count=1, min=39.9ms, max=39.9ms + compile_aux_objects: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms + compile_aux_policy_objects: mean=37.2ms, total=37.2ms, count=1, min=37.2ms, max=37.2ms + asset_install_grasps: mean=28.6ms, total=28.6ms, count=1, min=28.6ms, max=28.6ms + compile_robot_add: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms + asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms + asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + scene_randomize: mean=786.6us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + mj_forward_sync: mean=310.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:44:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:44:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:44:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:44:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:54 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:44:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:44:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:44:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.090m, effective arm-mount z=0.770m (base_body_z=-0.090m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089520m [env.py: 870] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:44:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08658844 -0.82579353 -0.0895197 ] yaw=-189.4deg [env.py: 1019] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.21702308 -0.75493874 -0.0895197 ] yaw=-190.4deg [env.py: 1019] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.1823809 -1.37731167 -0.0895197 ] yaw=158.0deg [env.py: 1019] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:44:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.7ms, total=127.7ms [env.py: 1075] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.087, -0.826, -0.090) [env.py: 1079] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.4 deg [env.py: 1082] +05/18 15:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.164m [env.py: 1086] +05/18 15:44:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:44:54 INFO: [Worker 0] Worker 0 house 2 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:44:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/18 15:44:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:44:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:44:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:44:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.846s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:44:56 ERROR: [Worker 0] Worker 0 house 2 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:44:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:44:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:44:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:44:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:44:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:44:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.074m, effective arm-mount z=0.786m (base_body_z=-0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.073560m [env.py: 870] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:44:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01288028 -0.29459251 -0.07355999] yaw=-150.1deg [env.py: 1019] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07250612 -0.57470161 -0.07355999] yaw=-186.8deg [env.py: 1019] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:44:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.1ms, total=136.1ms [env.py: 1075] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.013, -0.295, -0.074) [env.py: 1079] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.1 deg [env.py: 1082] +05/18 15:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.252m [env.py: 1086] +05/18 15:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:44:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:44:58 INFO: [Worker 0] Worker 0 house 2 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:44:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 15:44:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:44:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:44:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.858s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:45:00 ERROR: [Worker 0] Worker 0 house 2 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:45:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:45:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:45:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:45:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:45:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:45:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:45:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.056m, effective arm-mount z=0.804m (base_body_z=-0.056m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.055980m [env.py: 870] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:45:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.21457703 -1.17763909 -0.0559802 ] yaw=186.8deg [env.py: 1019] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21395391 -0.52061862 -0.0559802 ] yaw=-140.8deg [env.py: 1019] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:45:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=134.8ms, total=134.8ms [env.py: 1075] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.215, -1.178, -0.056) [env.py: 1079] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.8 deg [env.py: 1082] +05/18 15:45:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/18 15:45:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:45:01 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:45:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 15:45:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:45:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:45:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.626s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:45:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.630[m] 84.134[deg] [grasp_sample.py: 596] +05/18 15:45:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:45:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:45:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:45:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:45:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:19 INFO: [Worker 0] Worker 0 house 2 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:46:32 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 15:46:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:46:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:46:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:46:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 15:46:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.22s (batch: 2.39s, save: 6.84s) [pipeline.py: 300] +05/18 15:46:42 INFO: [Worker 0] [PROFILE] Episode 3 house 2 success=True episode_total=0.92s: + episode_total: mean=35.23s, total=105.69s, count=3, min=2254.1ms, max=101176.2ms + sensor_polling: mean=205.7ms, total=61.70s, count=300, min=193.0ms, max=363.7ms + save_trajectories: mean=6.84s, total=6.84s, count=1, min=6838.6ms, max=6838.6ms + physics_step: mean=13.7ms, total=4.12s, count=300, min=11.0ms, max=15.7ms + save_batch_prep: mean=2.39s, total=2.39s, count=1, min=2385.3ms, max=2385.3ms + task_sampling: mean=307.2ms, total=921.5ms, count=3, min=303.2ms, max=309.2ms + task_specific_sample: mean=304.9ms, total=914.6ms, count=3, min=301.3ms, max=307.0ms + scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=0.9ms, max=1.7ms + mj_forward_sync: mean=354.4us, total=1.1ms, count=3, min=0.3ms, max=0.4ms + policy_setup: mean=16.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:46:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:46:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:46:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:43 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:46:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:46:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:46:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011700m [env.py: 870] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:46:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01772582 -0.53703616 0.01169974] yaw=-158.9deg [env.py: 1019] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.20206091 -0.83537485 0.01169974] yaw=-192.3deg [env.py: 1019] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:46:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=137.7ms, total=137.7ms [env.py: 1075] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.018, -0.537, 0.012) [env.py: 1079] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg [env.py: 1082] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.156m [env.py: 1086] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:46:44 INFO: [Worker 0] Worker 0 house 2 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:46:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 15:46:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:46:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:46:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.818s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:46:46 ERROR: [Worker 0] Worker 0 house 2 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:46:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:46:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:46:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:46:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:47 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:46:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:46:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:46:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048208m [env.py: 870] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:46:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05000996 -0.2653194 0.0482076 ] yaw=-171.7deg [env.py: 1019] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.14131981 -0.26195965 0.0482076 ] yaw=-173.6deg [env.py: 1019] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:46:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=131.9ms, total=131.9ms [env.py: 1075] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.050, -0.265, 0.048) [env.py: 1079] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg [env.py: 1082] +05/18 15:46:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.214m [env.py: 1086] +05/18 15:46:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:46:47 INFO: [Worker 0] Worker 0 house 2 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:46:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 15:46:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:46:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:46:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.842s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:46:49 ERROR: [Worker 0] Worker 0 house 2 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:46:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:46:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:46:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:46:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:50 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:46:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:46:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:46:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027418m [env.py: 870] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:46:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 135.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.30538519 -0.10658605 -0.0274176 ] yaw=-130.8deg [env.py: 1019] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.17217944 -0.86174325 -0.0274176 ] yaw=-182.6deg [env.py: 1019] +05/18 15:46:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.3981104 -0.14895754 -0.0274176 ] yaw=-147.9deg [env.py: 1019] +05/18 15:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:46:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.8ms, total=136.8ms [env.py: 1075] +05/18 15:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.305, -0.107, -0.027) [env.py: 1079] +05/18 15:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg [env.py: 1082] +05/18 15:46:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.116m [env.py: 1086] +05/18 15:46:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:46:51 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:46:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 15:46:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:46:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:46:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.823s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:46:53 ERROR: [Worker 0] Worker 0 house 2 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:46:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:46:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:46:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:46:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:54 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:46:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:46:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:46:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021768m [env.py: 870] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:46:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12373615 -1.0521012 0.02176808] yaw=164.4deg [env.py: 1019] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.24482891 -0.61114133 0.02176808] yaw=-159.0deg [env.py: 1019] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.13076222 -0.24128622 0.02176808] yaw=-121.7deg [env.py: 1019] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:46:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.0ms, total=123.0ms [env.py: 1075] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.124, -1.052, 0.022) [env.py: 1079] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg [env.py: 1082] +05/18 15:46:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/18 15:46:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:46:54 INFO: [Worker 0] Worker 0 house 2 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:46:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 15:46:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:46:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:46:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.639s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:46:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.533[m] 84.138[deg] [grasp_sample.py: 596] +05/18 15:46:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:46:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:46:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:47:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:47:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:48:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:48:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:04 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.344s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:48:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.823[deg] [grasp_sample.py: 596] +05/18 15:48:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:48:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:48:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:09 INFO: [Worker 0] Worker 0 house 2 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:48:22 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 15:48:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:48:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:48:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:48:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 15:48:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.37s (batch: 2.56s, save: 6.81s) [pipeline.py: 300] +05/18 15:48:32 INFO: [Worker 0] [PROFILE] Episode 7 house 2 success=True episode_total=1.22s: + episode_total: mean=26.20s, total=104.79s, count=4, min=2207.1ms, max=98099.7ms + sensor_polling: mean=205.3ms, total=61.59s, count=300, min=190.0ms, max=330.0ms + save_trajectories: mean=6.81s, total=6.81s, count=1, min=6812.6ms, max=6812.6ms + physics_step: mean=14.5ms, total=4.36s, count=300, min=9.9ms, max=27.5ms + save_batch_prep: mean=2.56s, total=2.56s, count=1, min=2561.9ms, max=2561.9ms + task_sampling: mean=304.8ms, total=1.22s, count=4, min=289.8ms, max=326.8ms + task_specific_sample: mean=302.7ms, total=1.21s, count=4, min=287.9ms, max=324.3ms + scene_randomize: mean=1.0ms, total=4.0ms, count=4, min=0.8ms, max=1.5ms + mj_forward_sync: mean=332.9us, total=1.3ms, count=4, min=0.3ms, max=0.3ms + policy_setup: mean=16.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:48:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:48:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:33 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:48:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:48:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.079m, effective arm-mount z=0.781m (base_body_z=-0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.078643m [env.py: 870] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06605007 -0.29662523 -0.07864271] yaw=-138.5deg [env.py: 1019] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 127.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.08320674 -0.98813217 -0.07864271] yaw=172.9deg [env.py: 1019] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.07369694 -1.45954114 -0.07864271] yaw=170.4deg [env.py: 1019] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.1ms, total=94.1ms [env.py: 1075] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.066, -0.297, -0.079) [env.py: 1079] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.5 deg [env.py: 1082] +05/18 15:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.298m [env.py: 1086] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:34 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.815s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:48:36 ERROR: [Worker 0] Worker 0 house 2 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:48:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:48:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:37 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:48:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:48:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.069m, effective arm-mount z=0.791m (base_body_z=-0.069m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.068941m [env.py: 870] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.02377189 -0.7537868 -0.06894069] yaw=-158.9deg [env.py: 1019] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.11611548 -1.37913809 -0.06894069] yaw=172.6deg [env.py: 1019] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02012871 -0.88768269 -0.06894069] yaw=-205.5deg [env.py: 1019] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=66.3ms, total=66.3ms [env.py: 1075] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.024, -0.754, -0.069) [env.py: 1079] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg [env.py: 1082] +05/18 15:48:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m [env.py: 1086] +05/18 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:37 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.692s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:48:38 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.656[m] 118.246[deg] [grasp_sample.py: 596] +05/18 15:48:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:48:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:48:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:49:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:49:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:44 INFO: [Worker 0] Worker 0 house 2 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:49:57 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 15:49:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:49:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:50:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:50:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 15:50:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.05s (batch: 2.31s, save: 6.74s) [pipeline.py: 300] +05/18 15:50:07 INFO: [Worker 0] [PROFILE] Episode 9 house 2 success=True episode_total=0.52s: + episode_total: mean=46.00s, total=91.99s, count=2, min=2200.0ms, max=89793.7ms + sensor_polling: mean=202.8ms, total=60.83s, count=300, min=185.1ms, max=365.5ms + save_trajectories: mean=6.74s, total=6.74s, count=1, min=6743.8ms, max=6743.8ms + physics_step: mean=13.6ms, total=4.07s, count=300, min=10.9ms, max=15.4ms + save_batch_prep: mean=2.31s, total=2.31s, count=1, min=2310.8ms, max=2310.8ms + task_sampling: mean=258.0ms, total=516.0ms, count=2, min=237.0ms, max=279.0ms + task_specific_sample: mean=255.5ms, total=511.0ms, count=2, min=234.6ms, max=276.4ms + scene_randomize: mean=1.3ms, total=2.5ms, count=2, min=0.9ms, max=1.6ms + mj_forward_sync: mean=372.1us, total=0.7ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:50:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:50:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:08 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:50:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.008m, effective arm-mount z=0.852m (base_body_z=-0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007788m [env.py: 870] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.16297258 -1.00640236 -0.00778827] yaw=198.0deg [env.py: 1019] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.17711201 -0.09925163 -0.00778827] yaw=-136.9deg [env.py: 1019] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.1ms, total=142.1ms [env.py: 1075] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.163, -1.006, -0.008) [env.py: 1079] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 198.0 deg [env.py: 1082] +05/18 15:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/18 15:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:08 INFO: [Worker 0] Worker 0 house 2 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:09 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.428[m] 92.042[deg] [grasp_sample.py: 596] +05/18 15:50:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:50:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:50:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:50:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:50:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:51:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:51:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:51:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:51:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 15:51:17 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.905s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:51:17 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.040[m] 9.504[deg] [grasp_sample.py: 596] +05/18 15:51:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:51:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:51:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:51:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:51:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:34 INFO: [Worker 0] Worker 0 house 2 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:51:48 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 15:51:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:51:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:51:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:51:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 15:51:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.37s (batch: 2.57s, save: 6.79s) [pipeline.py: 300] +05/18 15:51:57 INFO: [Worker 0] [PROFILE] Episode 10 house 2 success=True episode_total=0.34s: + episode_total: mean=109.35s, total=109.35s, count=1, min=109354.0ms, max=109354.0ms + sensor_polling: mean=205.9ms, total=61.76s, count=300, min=191.4ms, max=354.3ms + save_trajectories: mean=6.79s, total=6.79s, count=1, min=6793.0ms, max=6793.0ms + physics_step: mean=13.7ms, total=4.11s, count=300, min=10.1ms, max=15.9ms + save_batch_prep: mean=2.57s, total=2.57s, count=1, min=2572.4ms, max=2572.4ms + task_sampling: mean=335.6ms, total=335.6ms, count=1, min=335.6ms, max=335.6ms + task_specific_sample: mean=333.1ms, total=333.1ms, count=1, min=333.1ms, max=333.1ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=322.9us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:51:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:51:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:51:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:59 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:51:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:51:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:51:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025475m [env.py: 870] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:51:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.04885882 -0.92916849 -0.02547542] yaw=177.5deg [env.py: 1019] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21844462 -0.97510229 -0.02547542] yaw=158.8deg [env.py: 1019] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.13426964 -0.96797681 -0.02547542] yaw=182.5deg [env.py: 1019] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:51:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.8ms, total=142.8ms [env.py: 1075] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.049, -0.929, -0.025) [env.py: 1079] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg [env.py: 1082] +05/18 15:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.123m [env.py: 1086] +05/18 15:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:51:59 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 15:51:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 15:51:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:51:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:51:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.888s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:01 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.685[m] 73.321[deg] [grasp_sample.py: 596] +05/18 15:52:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:52:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:52:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:52:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:52:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:52:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:52:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.734s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:52:43 ERROR: [Worker 0] Worker 0 house 2 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:52:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:52:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:45 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:52:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:52:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:45 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: 273] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012968m [env.py: 870] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 157.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04237133 -1.05456501 -0.01296842] yaw=152.6deg [env.py: 1019] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.13878604 -1.14242665 -0.01296842] yaw=183.2deg [env.py: 1019] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.05049008 -0.41556357 -0.01296842] yaw=-134.5deg [env.py: 1019] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.7ms, total=113.7ms [env.py: 1075] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.042, -1.055, -0.013) [env.py: 1079] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.6 deg [env.py: 1082] +05/18 15:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/18 15:52:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:45 INFO: [Worker 0] Worker 0 house 2 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.135s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:46 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.717[m] 101.933[deg] [grasp_sample.py: 596] +05/18 15:52:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:52:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:52:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:53:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:53:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:09 INFO: [Worker 0] Worker 0 house 2 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:54:22 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 15:54:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:54:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:54:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:54:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 15:54:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.26s (batch: 2.37s, save: 6.89s) [pipeline.py: 300] +05/18 15:54:32 INFO: [Worker 0] [PROFILE] Episode 12 house 2 success=True episode_total=0.63s: + episode_total: mean=75.91s, total=151.82s, count=2, min=44581.2ms, max=107243.1ms + sensor_polling: mean=203.4ms, total=87.66s, count=431, min=184.4ms, max=391.1ms + save_trajectories: mean=6.89s, total=6.89s, count=1, min=6892.2ms, max=6892.2ms + physics_step: mean=13.3ms, total=5.73s, count=431, min=10.9ms, max=15.1ms + save_batch_prep: mean=2.37s, total=2.37s, count=1, min=2368.2ms, max=2368.2ms + task_sampling: mean=312.8ms, total=625.5ms, count=2, min=292.8ms, max=332.7ms + task_specific_sample: mean=310.2ms, total=620.5ms, count=2, min=290.4ms, max=330.1ms + scene_randomize: mean=1.2ms, total=2.5ms, count=2, min=0.8ms, max=1.6ms + mj_forward_sync: mean=351.5us, total=0.7ms, count=2, min=0.3ms, max=0.4ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:54:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:33 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093731m [env.py: 870] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.12843385 -1.11058991 0.09373074] yaw=173.0deg [env.py: 1019] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.01083089 -0.67427273 0.09373074] yaw=-179.4deg [env.py: 1019] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19624421 -0.93409076 0.09373074] yaw=188.2deg [env.py: 1019] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.7ms, total=85.7ms [env.py: 1075] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.128, -1.111, 0.094) [env.py: 1079] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.0 deg [env.py: 1082] +05/18 15:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/18 15:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:33 INFO: [Worker 0] Worker 0 house 2 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.644s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.662[m] 109.160[deg] [grasp_sample.py: 596] +05/18 15:54:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:55:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:55:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:55:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:28 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.438s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:55:28 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.309[deg] [grasp_sample.py: 596] +05/18 15:55:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:55:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:55:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:55:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:52 INFO: [Worker 0] Worker 0 house 2 episode 13 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:55:52 INFO: [Worker 0] [PROFILE] Episode 13 house 2 success=False episode_total=0.28s: + episode_total: mean=79.24s, total=79.24s, count=1, min=79235.5ms, max=79235.5ms + sensor_polling: mean=210.4ms, total=63.11s, count=300, min=191.3ms, max=348.6ms + physics_step: mean=13.4ms, total=4.02s, count=300, min=10.9ms, max=15.7ms + task_sampling: mean=275.2ms, total=275.2ms, count=1, min=275.2ms, max=275.2ms + task_specific_sample: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=393.4us, 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] +05/18 15:55:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:55:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:54 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:55:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:55:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.097m, effective arm-mount z=0.763m (base_body_z=-0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.097393m [env.py: 870] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0098763 -0.62634544 -0.09739339] yaw=-162.4deg [env.py: 1019] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.09659082 -1.13524413 -0.09739339] yaw=144.6deg [env.py: 1019] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.23505539 -0.71338869 -0.09739339] yaw=-160.3deg [env.py: 1019] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.7ms, total=114.7ms [env.py: 1075] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.010, -0.626, -0.097) [env.py: 1079] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg [env.py: 1082] +05/18 15:55:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.122m [env.py: 1086] +05/18 15:55:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:54 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:55:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.893s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:55:56 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.670[m] 68.707[deg] [grasp_sample.py: 596] +05/18 15:55:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:55:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:55:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:56:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:56:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:45 INFO: [Worker 0] Feasibility-checked 80 grasps in 9.817s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:56:45 ERROR: [Worker 0] Worker 0 house 2 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:56:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:56:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:56:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:56:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009028m [env.py: 870] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.11214232 -0.73360978 -0.00902799] yaw=-184.9deg [env.py: 1019] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1066451 -0.44623813 -0.00902799] yaw=-158.4deg [env.py: 1019] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.12187932 -0.75158879 -0.00902799] yaw=-160.6deg [env.py: 1019] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.6ms, total=106.7ms [env.py: 1075] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.112, -0.734, -0.009) [env.py: 1079] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -184.9 deg [env.py: 1082] +05/18 15:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/18 15:56:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:47 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:56:47 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.440[m] 78.800[deg] [grasp_sample.py: 596] +05/18 15:56:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:56:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:56:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:57:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:57:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:53 INFO: [Worker 0] Worker 0 house 2 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:58:06 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 15:58:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:58:06 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/18 15:58:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:58:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 15:58:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.50s (batch: 2.58s, save: 6.92s) [pipeline.py: 300] +05/18 15:58:16 INFO: [Worker 0] [PROFILE] Episode 15 house 2 success=True episode_total=0.59s: + episode_total: mean=70.57s, total=141.14s, count=2, min=50941.4ms, max=90198.8ms + sensor_polling: mean=206.3ms, total=89.96s, count=436, min=191.4ms, max=375.0ms + save_trajectories: mean=6.92s, total=6.92s, count=1, min=6922.9ms, max=6922.9ms + physics_step: mean=13.5ms, total=5.89s, count=436, min=10.9ms, max=15.8ms + save_batch_prep: mean=2.58s, total=2.58s, count=1, min=2580.8ms, max=2580.8ms + task_sampling: mean=294.3ms, total=588.5ms, count=2, min=293.1ms, max=295.4ms + task_specific_sample: mean=290.1ms, total=580.2ms, count=2, min=287.3ms, max=292.9ms + scene_randomize: mean=954.0us, total=1.9ms, count=2, min=1.0ms, max=1.0ms + mj_forward_sync: mean=343.8us, total=0.7ms, count=2, min=0.3ms, max=0.4ms + policy_setup: mean=12.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:58:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:58:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:58:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:58:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:18 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:58:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:58:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:58:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009128m [env.py: 870] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:58:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.29898792 -0.2779811 0.00912765] yaw=-159.6deg [env.py: 1019] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.52573079 -0.0813018 0.00912765] yaw=-148.1deg [env.py: 1019] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.05014148 -1.44699865 0.00912765] yaw=167.5deg [env.py: 1019] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:58:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=71.6ms, total=71.6ms [env.py: 1075] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.299, -0.278, 0.009) [env.py: 1079] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.6 deg [env.py: 1082] +05/18 15:58:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/18 15:58:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:18 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:58:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.915s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:58:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.722[m] 114.924[deg] [grasp_sample.py: 596] +05/18 15:58:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:58:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:58:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:58:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:58:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:59:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:59:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:59:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:59:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:35 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.789s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:59:35 ERROR: [Worker 0] Worker 0 house 2 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:59:35 WARNING: [Worker 0] Asset Fridge_m_2 (hash: ced2e34b7080d5dfaeb602c72825d9cf) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 15:59:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:59:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:59:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:36 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:59:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:59:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:59:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.087728m [env.py: 870] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:59:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 134.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.30978924 -0.49278355 -0.08772836] yaw=-169.6deg [env.py: 1019] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 148.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.04771055 -1.29432104 -0.08772836] yaw=173.5deg [env.py: 1019] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10844494 -0.54477692 -0.08772836] yaw=-146.9deg [env.py: 1019] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:59:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.7ms, total=99.8ms [env.py: 1075] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.310, -0.493, -0.088) [env.py: 1079] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.6 deg [env.py: 1082] +05/18 15:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/18 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:59:36 INFO: [Worker 0] Worker 0 house 2 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 15:59:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 15:59:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:59:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:59:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.662s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:59:38 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.626[m] 117.525[deg] [grasp_sample.py: 596] +05/18 15:59:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:59:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:59:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:00:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:00:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:45 INFO: [Worker 0] Worker 0 house 2 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:00:59 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:00:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:00:59 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:01:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:01:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:01:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 10.22s (batch: 2.89s, save: 7.33s) [pipeline.py: 300] +05/18 16:01:10 INFO: [Worker 0] [PROFILE] Episode 17 house 2 success=True episode_total=0.54s: + episode_total: mean=85.29s, total=170.57s, count=2, min=76840.5ms, max=93733.8ms + sensor_polling: mean=203.8ms, total=122.06s, count=599, min=184.9ms, max=412.5ms + physics_step: mean=13.9ms, total=8.30s, count=599, min=10.9ms, max=23.3ms + save_trajectories: mean=7.33s, total=7.33s, count=1, min=7334.6ms, max=7334.6ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2889.2ms, max=2889.2ms + task_sampling: mean=271.2ms, total=542.5ms, count=2, min=262.3ms, max=280.2ms + task_specific_sample: mean=268.1ms, total=536.2ms, count=2, min=259.5ms, max=276.7ms + scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=0.9ms, max=1.7ms + mj_forward_sync: mean=352.7us, total=0.7ms, count=2, min=0.3ms, max=0.4ms + policy_setup: mean=15.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:01:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:01:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:01:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:11 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:01:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:01:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:01:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024540m [env.py: 870] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:01:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 132.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 144.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.14895454 -1.25158144 0.02453975] yaw=148.1deg [env.py: 1019] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.14594874 -0.38839467 0.02453975] yaw=-125.2deg [env.py: 1019] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:01:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.2ms [env.py: 1075] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.149, -1.252, 0.025) [env.py: 1079] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.1 deg [env.py: 1082] +05/18 16:01:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/18 16:01:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:01:11 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:01:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 16:01:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:01:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:01:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:01:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:01:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.600[m] 98.452[deg] [grasp_sample.py: 596] +05/18 16:01:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:01:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:01:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:01:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:01:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:02:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:02:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:02:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:03 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.339s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:02:03 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.104[m] 0.363[deg] [grasp_sample.py: 596] +05/18 16:02:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:02:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:02:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:02:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:27 INFO: [Worker 0] Worker 0 house 2 episode 18 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:02:42 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:02:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:02:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:02:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:02:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:02:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 10.03s (batch: 2.79s, save: 7.24s) [pipeline.py: 300] +05/18 16:02:53 INFO: [Worker 0] [PROFILE] Episode 18 house 2 success=True episode_total=0.32s: + episode_total: mean=101.46s, total=101.46s, count=1, min=101459.8ms, max=101459.8ms + sensor_polling: mean=207.0ms, total=62.11s, count=300, min=189.9ms, max=378.1ms + save_trajectories: mean=7.24s, total=7.24s, count=1, min=7244.8ms, max=7244.8ms + physics_step: mean=13.5ms, total=4.05s, count=300, min=10.0ms, max=26.7ms + save_batch_prep: mean=2.79s, total=2.79s, count=1, min=2788.6ms, max=2788.6ms + task_sampling: mean=324.2ms, total=324.2ms, count=1, min=324.2ms, max=324.2ms + task_specific_sample: mean=321.5ms, total=321.5ms, count=1, min=321.5ms, max=321.5ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=351.8us, 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] +05/18 16:02:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:02:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:54 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:02:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:02:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047560m [env.py: 870] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18590231 -1.39432639 -0.04756017] yaw=142.0deg [env.py: 1019] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10544016 -0.37612499 -0.04756017] yaw=-150.4deg [env.py: 1019] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.2735633 -0.26113489 -0.04756017] yaw=-143.0deg [env.py: 1019] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=71.5ms, total=71.5ms [env.py: 1075] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.186, -1.394, -0.048) [env.py: 1079] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.0 deg [env.py: 1082] +05/18 16:02:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/18 16:02:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:54 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 16:02:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:02:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.869s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:02:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.585[m] 79.374[deg] [grasp_sample.py: 596] +05/18 16:02:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:02:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:02:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:03:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:03:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:05 INFO: [Worker 0] Worker 0 house 2 episode 19 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:04:19 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:04:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:04:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:04:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:04:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:04:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.93s (batch: 2.78s, save: 7.15s) [pipeline.py: 300] +05/18 16:04:30 INFO: [Worker 0] [PROFILE] Episode 19 house 2 success=True episode_total=0.26s: + episode_total: mean=95.90s, total=95.90s, count=1, min=95903.0ms, max=95903.0ms + sensor_polling: mean=207.7ms, total=62.31s, count=300, min=194.2ms, max=357.0ms + save_trajectories: mean=7.15s, total=7.15s, count=1, min=7145.9ms, max=7145.9ms + physics_step: mean=14.7ms, total=4.41s, count=300, min=10.9ms, max=17.4ms + save_batch_prep: mean=2.78s, total=2.78s, count=1, min=2784.5ms, max=2784.5ms + task_sampling: mean=263.0ms, total=263.0ms, count=1, min=263.0ms, max=263.0ms + task_specific_sample: mean=260.3ms, total=260.3ms, count=1, min=260.3ms, max=260.3ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=335.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.7us, 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] +05/18 16:04:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:31 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:04:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.093m, effective arm-mount z=0.767m (base_body_z=-0.093m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.093382m [env.py: 870] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24604028 -0.11810015 -0.09338231] yaw=-134.2deg [env.py: 1019] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.09843739 -0.57615628 -0.09338231] yaw=-182.8deg [env.py: 1019] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.0714424 -1.0156843 -0.09338231] yaw=164.8deg [env.py: 1019] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:04:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.6ms, total=107.6ms [env.py: 1075] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.246, -0.118, -0.093) [env.py: 1079] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg [env.py: 1082] +05/18 16:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.150m [env.py: 1086] +05/18 16:04:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:04:32 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:04:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 16:04:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:04:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.904s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:04:34 ERROR: [Worker 0] Worker 0 house 2 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:04:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:35 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:04:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064731m [env.py: 870] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.25578891 -1.29412156 0.06473132] yaw=128.2deg [env.py: 1019] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07410215 -1.30859338 0.06473132] yaw=172.3deg [env.py: 1019] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.11688386 -0.76266967 0.06473132] yaw=-197.8deg [env.py: 1019] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:04:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.8ms, total=103.8ms [env.py: 1075] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.256, -1.294, 0.065) [env.py: 1079] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.2 deg [env.py: 1082] +05/18 16:04:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:04:35 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:04:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:04:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:04:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.448s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:04:36 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.587[m] 102.050[deg] [grasp_sample.py: 596] +05/18 16:04:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:04:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:04:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:05:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:05:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:05:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:47 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.397s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:05:47 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.104[m] 0.401[deg] [grasp_sample.py: 596] +05/18 16:05:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:05:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:05:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:50 INFO: [Worker 0] Worker 0 house 2 episode 21 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:06:05 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:06:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:06:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:06:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:06:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:06:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 10.49s (batch: 2.81s, save: 7.69s) [pipeline.py: 300] +05/18 16:06:16 INFO: [Worker 0] [PROFILE] Episode 21 house 2 success=True episode_total=0.58s: + episode_total: mean=51.54s, total=103.07s, count=2, min=2320.6ms, max=100750.1ms + sensor_polling: mean=205.7ms, total=61.71s, count=300, min=189.4ms, max=372.6ms + save_trajectories: mean=7.69s, total=7.69s, count=1, min=7685.1ms, max=7685.1ms + physics_step: mean=14.1ms, total=4.23s, count=300, min=10.0ms, max=25.4ms + save_batch_prep: mean=2.81s, total=2.81s, count=1, min=2809.1ms, max=2809.1ms + task_sampling: mean=288.6ms, total=577.3ms, count=2, min=275.7ms, max=301.6ms + task_specific_sample: mean=285.8ms, total=571.7ms, count=2, min=273.2ms, max=298.5ms + scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=0.9ms, max=1.9ms + mj_forward_sync: mean=381.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:06:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:06:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:06:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:06:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:17 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:06:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:06:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:06:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083807m [env.py: 870] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:06:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.05340185 -1.21469274 0.08380731] yaw=155.9deg [env.py: 1019] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 133.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.09106104 -0.52323119 0.08380731] yaw=-164.9deg [env.py: 1019] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.42918522 0.02724132 0.08380731] yaw=-118.6deg [env.py: 1019] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:06:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.4ms, total=106.5ms [env.py: 1075] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.053, -1.215, 0.084) [env.py: 1079] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.9 deg [env.py: 1082] +05/18 16:06:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/18 16:06:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:06:17 INFO: [Worker 0] Worker 0 house 2 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:06:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 16:06:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:06:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:06:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:06:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.675s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:06:19 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.784[m] 109.855[deg] [grasp_sample.py: 596] +05/18 16:06:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:06:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:06:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:06:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:07:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:07:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:07:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:14 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.386s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:07:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.036[m] 8.575[deg] [grasp_sample.py: 596] +05/18 16:07:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:07:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:07:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:07:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:07:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:07:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.396s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:07:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.316[deg] [grasp_sample.py: 596] +05/18 16:07:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:07:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:07:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:39 INFO: [Worker 0] Worker 0 house 2 episode 22 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:07:39 INFO: [Worker 0] [PROFILE] Episode 22 house 2 success=False episode_total=0.29s: + episode_total: mean=82.16s, total=82.16s, count=1, min=82163.0ms, max=82163.0ms + sensor_polling: mean=205.0ms, total=61.50s, count=300, min=189.8ms, max=388.9ms + physics_step: mean=13.7ms, total=4.10s, count=300, min=10.1ms, max=29.1ms + task_sampling: mean=292.5ms, total=292.5ms, count=1, min=292.5ms, max=292.5ms + task_specific_sample: mean=289.7ms, total=289.7ms, count=1, min=289.7ms, max=289.7ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=363.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:07:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051761m [env.py: 870] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10280474 -0.87443639 0.05176077] yaw=-192.7deg [env.py: 1019] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08539719 -0.50643611 0.05176077] yaw=-151.0deg [env.py: 1019] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.19413277 -1.1524377 0.05176077] yaw=175.8deg [env.py: 1019] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.7ms, total=100.7ms [env.py: 1075] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.103, -0.874, 0.052) [env.py: 1079] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -192.7 deg [env.py: 1082] +05/18 16:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.178m [env.py: 1086] +05/18 16:07:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:41 INFO: [Worker 0] Worker 0 house 2 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.824s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:07:43 ERROR: [Worker 0] Worker 0 house 2 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:07:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.033398m [env.py: 870] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.3994996 0.05084396 -0.03339793] yaw=-104.8deg [env.py: 1019] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.06454247 -1.49408546 -0.03339793] yaw=180.8deg [env.py: 1019] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.28587777 -0.01384783 -0.03339793] yaw=-119.1deg [env.py: 1019] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.9ms, total=81.9ms [env.py: 1075] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.399, 0.051, -0.033) [env.py: 1079] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.8 deg [env.py: 1082] +05/18 16:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.179m [env.py: 1086] +05/18 16:07:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:44 INFO: [Worker 0] Worker 0 house 2 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.842s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:07:46 ERROR: [Worker 0] Worker 0 house 2 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:07:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:48 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.078m, effective arm-mount z=0.782m (base_body_z=-0.078m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.077515m [env.py: 870] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.2397955 -0.35244012 -0.07751453] yaw=-152.0deg [env.py: 1019] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 138.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.8ms [env.py: 1075] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.240, -0.352, -0.078) [env.py: 1079] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.0 deg [env.py: 1082] +05/18 16:07:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/18 16:07:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:48 INFO: [Worker 0] Worker 0 house 2 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.924s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:07:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.491[m] 74.883[deg] [grasp_sample.py: 596] +05/18 16:07:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:07:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:07:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:08:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:08:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:08:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:08:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.829s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:09:00 ERROR: [Worker 0] Worker 0 house 2 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:09:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:09:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:09:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:09:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:09:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:09:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:09:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057246m [env.py: 870] +05/18 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:09:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 139.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.30218471 -0.05764744 0.05724589] yaw=-148.2deg [env.py: 1019] +05/18 16:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.17194393 -0.50532265 0.05724589] yaw=-128.4deg [env.py: 1019] +05/18 16:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:09:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=133.6ms, total=133.6ms [env.py: 1075] +05/18 16:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.302, -0.058, 0.057) [env.py: 1079] +05/18 16:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg [env.py: 1082] +05/18 16:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.155m [env.py: 1086] +05/18 16:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:09:02 INFO: [Worker 0] Worker 0 house 2 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:09:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:09:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.820s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:09:04 ERROR: [Worker 0] Worker 0 house 2 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:09:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:09:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:09:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:05 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:09:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:09:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:09:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.051m, effective arm-mount z=0.809m (base_body_z=-0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051461m [env.py: 870] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:09:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.24576501 -0.39089244 -0.05146135] yaw=-121.9deg [env.py: 1019] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:09:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.8ms [env.py: 1075] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.246, -0.391, -0.051) [env.py: 1079] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.9 deg [env.py: 1082] +05/18 16:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/18 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:09:05 INFO: [Worker 0] Worker 0 house 2 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:09:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/18 16:09:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:09:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.536[m] 86.898[deg] [grasp_sample.py: 596] +05/18 16:09:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:09:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:09:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:09:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:09:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:12 INFO: [Worker 0] Worker 0 house 2 episode 27 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:10:27 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:10:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:10:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:10:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:10:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:10:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.72s (batch: 2.81s, save: 6.91s) [pipeline.py: 300] +05/18 16:10:37 INFO: [Worker 0] [PROFILE] Episode 27 house 2 success=True episode_total=1.47s: + episode_total: mean=34.18s, total=170.90s, count=5, min=2189.1ms, max=91954.5ms + sensor_polling: mean=202.6ms, total=116.71s, count=576, min=186.0ms, max=391.4ms + physics_step: mean=14.1ms, total=8.09s, count=576, min=10.9ms, max=20.4ms + save_trajectories: mean=6.91s, total=6.91s, count=1, min=6910.2ms, max=6910.2ms + save_batch_prep: mean=2.81s, total=2.81s, count=1, min=2810.2ms, max=2810.2ms + task_sampling: mean=293.1ms, total=1.47s, count=5, min=260.1ms, max=313.0ms + task_specific_sample: mean=290.6ms, total=1.45s, count=5, min=257.0ms, max=309.6ms + scene_randomize: mean=936.2us, total=4.7ms, count=5, min=0.8ms, max=1.2ms + mj_forward_sync: mean=345.6us, total=1.7ms, count=5, min=0.3ms, max=0.4ms + policy_setup: mean=13.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:10:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:10:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:38 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:10:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:10:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.081231m [env.py: 870] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08201956 -0.73520517 -0.08123125] yaw=-194.2deg [env.py: 1019] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14291293 -0.38349359 -0.08123125] yaw=-148.2deg [env.py: 1019] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06470431 -1.30344152 -0.08123125] yaw=160.2deg [env.py: 1019] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.7ms, total=84.7ms [env.py: 1075] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.082, -0.735, -0.081) [env.py: 1079] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -194.2 deg [env.py: 1082] +05/18 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.170m [env.py: 1086] +05/18 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:38 INFO: [Worker 0] Worker 0 house 2 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.834s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:10:40 ERROR: [Worker 0] Worker 0 house 2 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:10:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:10:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:42 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:10:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:10:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045004m [env.py: 870] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.06468804 -1.24028173 0.04500356] yaw=147.9deg [env.py: 1019] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21348606 -0.92945667 0.04500356] yaw=159.3deg [env.py: 1019] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.14511252 -0.95633366 0.04500356] yaw=192.6deg [env.py: 1019] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=66.1ms, total=66.1ms [env.py: 1075] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.065, -1.240, 0.045) [env.py: 1079] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.9 deg [env.py: 1082] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:42 INFO: [Worker 0] Worker 0 house 2 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.928s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:10:44 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.784[m] 90.651[deg] [grasp_sample.py: 596] +05/18 16:10:45 ERROR: [Worker 0] Worker 0 house 2 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:10:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:10:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:10:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:10:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075062m [env.py: 870] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 141.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.45048199 -0.13144916 0.07506205] yaw=-106.4deg [env.py: 1019] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14871639 -1.09604766 0.07506205] yaw=159.1deg [env.py: 1019] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20488708 -0.79742181 0.07506205] yaw=-156.0deg [env.py: 1019] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.9ms, total=91.0ms [env.py: 1075] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.450, -0.131, 0.075) [env.py: 1079] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.4 deg [env.py: 1082] +05/18 16:10:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:47 INFO: [Worker 0] Worker 0 house 2 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.907s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:10:49 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.702[m] 98.330[deg] [grasp_sample.py: 596] +05/18 16:10:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:10:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:10:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:11:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:11:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:11:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:11:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.130s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:11:39 INFO: [Worker 0] Feasible grasp found 171 (originally 56): w/ 0.201[m] 19.111[deg] [grasp_sample.py: 596] +05/18 16:11:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:11:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:11:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:11:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:11:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:53 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.933s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:11:53 INFO: [Worker 0] Feasible grasp found 171 (originally 56): w/ 0.150[m] 13.258[deg] [grasp_sample.py: 596] +05/18 16:11:53 ERROR: [Worker 0] Worker 0 house 2 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:11:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:11:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:11:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:11:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:55 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:11:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:11:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:11:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086317m [env.py: 870] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:11:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06276642 -0.52810842 0.08631692] yaw=-164.4deg [env.py: 1019] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 139.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.01353015 -1.31119612 0.08631692] yaw=174.3deg [env.py: 1019] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00849994 -0.87727054 0.08631692] yaw=-202.5deg [env.py: 1019] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:11:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.9ms, total=112.0ms [env.py: 1075] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.063, -0.528, 0.086) [env.py: 1079] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.4 deg [env.py: 1082] +05/18 16:11:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.201m [env.py: 1086] +05/18 16:11:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:11:55 INFO: [Worker 0] Worker 0 house 2 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 16:11:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 16:11:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.934s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:11:57 ERROR: [Worker 0] Worker 0 house 2 episode 31 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:11:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:11:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:11:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:58 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:11:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:11:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:11:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062815m [env.py: 870] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:11:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.13480198 -0.55034603 0.06281507] yaw=-139.1deg [env.py: 1019] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11183736 -1.40250394 0.06281507] yaw=162.7deg [env.py: 1019] +05/18 16:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.14210189 -1.05430062 0.06281507] yaw=155.0deg [env.py: 1019] +05/18 16:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:11:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=68.1ms, total=68.2ms [env.py: 1075] +05/18 16:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.135, -0.550, 0.063) [env.py: 1079] +05/18 16:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg [env.py: 1082] +05/18 16:11:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.263m [env.py: 1086] +05/18 16:11:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:11:59 INFO: [Worker 0] Worker 0 house 2 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 16:11:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 16:11:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.961s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:12:01 ERROR: [Worker 0] Worker 0 house 2 episode 32 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:12:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:12:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:02 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:12:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093275m [env.py: 870] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18672605 -0.94920935 0.09327515] yaw=206.9deg [env.py: 1019] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.07349839 -0.64799398 0.09327515] yaw=-142.2deg [env.py: 1019] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.03375747 -0.50312613 0.09327515] yaw=-184.1deg [env.py: 1019] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.9ms, total=122.9ms [env.py: 1075] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.187, -0.949, 0.093) [env.py: 1079] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 206.9 deg [env.py: 1082] +05/18 16:12:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.262m [env.py: 1086] +05/18 16:12:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:02 INFO: [Worker 0] Worker 0 house 2 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.016s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:12:04 ERROR: [Worker 0] Worker 0 house 2 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:12:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:12:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:06 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:12:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.067m, effective arm-mount z=0.793m (base_body_z=-0.067m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.066721m [env.py: 870] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -103.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.03716494 -1.18606642 -0.0667212 ] yaw=145.8deg [env.py: 1019] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=131.4ms, total=131.4ms [env.py: 1075] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.037, -1.186, -0.067) [env.py: 1079] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.8 deg [env.py: 1082] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:06 INFO: [Worker 0] Worker 0 house 2 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.981s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:08 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.733[m] 58.427[deg] [grasp_sample.py: 596] +05/18 16:12:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:12:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:12:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:12:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:12:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 35.567s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:13:21 INFO: [Worker 0] Feasible grasp found 12 (originally 12): w/ 0.204[m] 142.538[deg] [grasp_sample.py: 596] +05/18 16:13:22 ERROR: [Worker 0] Worker 0 house 2 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:13:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:13:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:23 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:13:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:13:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053873m [env.py: 870] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.16520588 -0.42173114 0.05387348] yaw=-178.8deg [env.py: 1019] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19591897 -0.79764685 0.05387348] yaw=-175.0deg [env.py: 1019] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.04799995 -0.64385626 0.05387348] yaw=-155.6deg [env.py: 1019] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.1ms, total=129.1ms [env.py: 1075] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.165, -0.422, 0.054) [env.py: 1079] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.8 deg [env.py: 1082] +05/18 16:13:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/18 16:13:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:24 INFO: [Worker 0] Worker 0 house 2 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:13:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.850s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:13:26 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.633[m] 91.230[deg] [grasp_sample.py: 596] +05/18 16:13:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:13:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:13:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:13:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:13:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:32 INFO: [Worker 0] Worker 0 house 2 episode 35 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:14:47 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:14:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:14:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:14:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:14:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:14:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.92s (batch: 2.78s, save: 7.14s) [pipeline.py: 300] +05/18 16:14:57 INFO: [Worker 0] [PROFILE] Episode 35 house 2 success=True episode_total=2.21s: + episode_total: mean=31.21s, total=249.69s, count=8, min=2207.9ms, max=94107.6ms + sensor_polling: mean=202.1ms, total=134.00s, count=663, min=181.1ms, max=437.5ms + physics_step: mean=13.4ms, total=8.85s, count=663, min=10.9ms, max=28.2ms + save_trajectories: mean=7.14s, total=7.14s, count=1, min=7140.9ms, max=7140.9ms + save_batch_prep: mean=2.78s, total=2.78s, count=1, min=2775.7ms, max=2775.7ms + task_sampling: mean=275.6ms, total=2.21s, count=8, min=236.9ms, max=311.5ms + task_specific_sample: mean=273.0ms, total=2.18s, count=8, min=234.5ms, max=309.3ms + scene_randomize: mean=1.3ms, total=10.3ms, count=8, min=0.8ms, max=3.5ms + mj_forward_sync: mean=347.0us, total=2.8ms, count=8, min=0.3ms, max=0.4ms + policy_setup: mean=12.7us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:14:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:14:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:59 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:14:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:14:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010066m [env.py: 870] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08562424 -0.38894831 -0.01006557] yaw=-143.5deg [env.py: 1019] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.13714204 -0.92559158 -0.01006557] yaw=197.7deg [env.py: 1019] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.41141617 -0.24776985 -0.01006557] yaw=-160.5deg [env.py: 1019] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.5ms, total=130.5ms [env.py: 1075] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.086, -0.389, -0.010) [env.py: 1079] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg [env.py: 1082] +05/18 16:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.120m [env.py: 1086] +05/18 16:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:59 INFO: [Worker 0] Worker 0 house 2 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.382s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:02 ERROR: [Worker 0] Worker 0 house 2 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:04 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.063m, effective arm-mount z=0.797m (base_body_z=-0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.062614m [env.py: 870] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 100.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00330448 -0.3303896 -0.06261416] yaw=-124.7deg [env.py: 1019] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.0931476 -0.57715007 -0.06261416] yaw=-167.0deg [env.py: 1019] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=133.0ms, total=133.0ms [env.py: 1075] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.003, -0.330, -0.063) [env.py: 1079] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.7 deg [env.py: 1082] +05/18 16:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.226m [env.py: 1086] +05/18 16:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:04 INFO: [Worker 0] Worker 0 house 2 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.847s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:06 ERROR: [Worker 0] Worker 0 house 2 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:07 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.078m, effective arm-mount z=0.782m (base_body_z=-0.078m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.078314m [env.py: 870] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.34121833 -0.06360739 -0.07831449] yaw=-152.7deg [env.py: 1019] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 133.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.36469836 -0.27356629 -0.07831449] yaw=-132.7deg [env.py: 1019] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.16773226 -0.07944136 -0.07831449] yaw=-160.5deg [env.py: 1019] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.9ms, total=122.9ms [env.py: 1075] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.341, -0.064, -0.078) [env.py: 1079] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.7 deg [env.py: 1082] +05/18 16:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.124m [env.py: 1086] +05/18 16:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:08 INFO: [Worker 0] Worker 0 house 2 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.786s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:09 ERROR: [Worker 0] Worker 0 house 2 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:11 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046895m [env.py: 870] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24406995 -1.1277282 0.04689525] yaw=193.8deg [env.py: 1019] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17815117 -1.13105146 0.04689525] yaw=153.8deg [env.py: 1019] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.02905603 -1.08560822 0.04689525] yaw=179.0deg [env.py: 1019] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.7ms, total=99.7ms [env.py: 1075] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.244, -1.128, 0.047) [env.py: 1079] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 193.8 deg [env.py: 1082] +05/18 16:15:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/18 16:15:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:11 INFO: [Worker 0] Worker 0 house 2 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:15:12 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.490[m] 103.200[deg] [grasp_sample.py: 596] +05/18 16:15:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:15:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:15:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:15:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:15:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:16:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:16:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:07 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.374s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:16:07 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.039[m] 9.191[deg] [grasp_sample.py: 596] +05/18 16:16:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:16:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:16:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:16:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:16:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:16:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.364s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:16:28 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.327[deg] [grasp_sample.py: 596] +05/18 16:16:29 ERROR: [Worker 0] Worker 0 house 2 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:16:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:16:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:16:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:16:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:30 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:16:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:16:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:16:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013442m [env.py: 870] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:16:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.18746703 -1.2135467 0.01344168] yaw=136.3deg [env.py: 1019] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.26679727 -1.29667726 0.01344168] yaw=182.8deg [env.py: 1019] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:16:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.2ms, total=136.2ms [env.py: 1075] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.187, -1.214, 0.013) [env.py: 1079] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.3 deg [env.py: 1082] +05/18 16:16:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m [env.py: 1086] +05/18 16:16:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:16:30 INFO: [Worker 0] Worker 0 house 2 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 16:16:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 16:16:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.618s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:16:31 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.665[m] 64.475[deg] [grasp_sample.py: 596] +05/18 16:16:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:16:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:16:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:16:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:17:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:17:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:17:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:50 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.226s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:50 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.071[m] 9.058[deg] [grasp_sample.py: 596] +05/18 16:17:50 ERROR: [Worker 0] Worker 0 house 2 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:17:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:52 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:52 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: 273] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019761m [env.py: 870] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.40563168 0.10466185 -0.01976116] yaw=-94.8deg [env.py: 1019] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.2692164 -0.61183954 -0.01976116] yaw=-148.6deg [env.py: 1019] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.7ms [env.py: 1075] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.406, 0.105, -0.020) [env.py: 1079] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.8 deg [env.py: 1082] +05/18 16:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.220m [env.py: 1086] +05/18 16:17:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:52 INFO: [Worker 0] Worker 0 house 2 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.845s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:54 ERROR: [Worker 0] Worker 0 house 2 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:56 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097315m [env.py: 870] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.21353524 -0.97753322 0.09731487] yaw=191.3deg [env.py: 1019] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.16472672 -0.57007571 0.09731487] yaw=-146.3deg [env.py: 1019] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.15213381 -0.62570789 0.09731487] yaw=-176.2deg [env.py: 1019] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.5ms, total=127.5ms [env.py: 1075] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.214, -0.978, 0.097) [env.py: 1079] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 191.3 deg [env.py: 1082] +05/18 16:17:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/18 16:17:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:56 INFO: [Worker 0] Worker 0 house 2 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:56 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.473[m] 69.703[deg] [grasp_sample.py: 596] +05/18 16:17:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:17:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:17:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:18:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:18:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:16 INFO: [Worker 0] Worker 0 house 2 episode 42 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:19:30 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:19:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:19:30 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/18 16:19:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:19:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:19:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.78s (batch: 2.86s, save: 6.92s) [pipeline.py: 300] +05/18 16:19:40 INFO: [Worker 0] [PROFILE] Episode 42 house 2 success=True episode_total=2.12s: + episode_total: mean=39.07s, total=273.46s, count=7, min=2158.2ms, max=104700.9ms + sensor_polling: mean=205.6ms, total=179.12s, count=871, min=189.3ms, max=414.3ms + physics_step: mean=13.7ms, total=11.94s, count=871, min=10.1ms, max=26.9ms + save_trajectories: mean=6.92s, total=6.92s, count=1, min=6922.2ms, max=6922.2ms + save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2862.2ms, max=2862.2ms + task_sampling: mean=302.5ms, total=2.12s, count=7, min=267.0ms, max=324.3ms + task_specific_sample: mean=299.9ms, total=2.10s, count=7, min=265.0ms, max=321.0ms + scene_randomize: mean=997.4us, total=7.0ms, count=7, min=0.8ms, max=1.8ms + mj_forward_sync: mean=334.9us, total=2.3ms, count=7, min=0.3ms, max=0.3ms + policy_setup: mean=13.7us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:19:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:42 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029822m [env.py: 870] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18225361 -1.08274713 0.02982209] yaw=158.3deg [env.py: 1019] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.07452881 -1.24141943 0.02982209] yaw=178.1deg [env.py: 1019] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.17445875 -0.43012814 0.02982209] yaw=-129.5deg [env.py: 1019] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.6ms, total=148.6ms [env.py: 1075] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.182, -1.083, 0.030) [env.py: 1079] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.3 deg [env.py: 1082] +05/18 16:19:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.268m [env.py: 1086] +05/18 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:42 INFO: [Worker 0] Worker 0 house 2 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.898s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:19:44 ERROR: [Worker 0] Worker 0 house 2 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:19:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:45 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077407m [env.py: 870] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01124337 -1.02133675 0.07740671] yaw=186.7deg [env.py: 1019] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.27551165 -0.21298446 0.07740671] yaw=-113.4deg [env.py: 1019] +05/18 16:19:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.03954239 -1.1856251 0.07740671] yaw=163.7deg [env.py: 1019] +05/18 16:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.2ms, total=105.2ms [env.py: 1075] +05/18 16:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.011, -1.021, 0.077) [env.py: 1079] +05/18 16:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.7 deg [env.py: 1082] +05/18 16:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/18 16:19:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:46 INFO: [Worker 0] Worker 0 house 2 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.887s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.600[m] 99.107[deg] [grasp_sample.py: 596] +05/18 16:19:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:20:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:20:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:56 INFO: [Worker 0] Worker 0 house 2 episode 44 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:21:10 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:21:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:21:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:21:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:21:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:21:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.54s (batch: 2.75s, save: 6.79s) [pipeline.py: 300] +05/18 16:21:20 INFO: [Worker 0] [PROFILE] Episode 44 house 2 success=True episode_total=0.61s: + episode_total: mean=48.59s, total=97.19s, count=2, min=2348.3ms, max=94839.4ms + sensor_polling: mean=207.7ms, total=62.30s, count=300, min=189.1ms, max=397.9ms + save_trajectories: mean=6.79s, total=6.79s, count=1, min=6789.2ms, max=6789.2ms + physics_step: mean=13.7ms, total=4.11s, count=300, min=10.9ms, max=17.6ms + save_batch_prep: mean=2.75s, total=2.75s, count=1, min=2752.5ms, max=2752.5ms + task_sampling: mean=307.0ms, total=614.1ms, count=2, min=274.1ms, max=340.0ms + task_specific_sample: mean=304.5ms, total=609.0ms, count=2, min=271.9ms, max=337.2ms + scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=0.8ms, max=1.8ms + mj_forward_sync: mean=335.6us, total=0.7ms, count=2, min=0.3ms, max=0.4ms + policy_setup: mean=14.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:21:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:21:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:22 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:21:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:22 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: 273] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003605m [env.py: 870] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.17985719 -0.62200231 -0.00360525] yaw=-150.5deg [env.py: 1019] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.10841248 -0.78216567 -0.00360525] yaw=-178.0deg [env.py: 1019] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.04693351 -0.44929147 -0.00360525] yaw=-184.8deg [env.py: 1019] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.7ms, total=146.7ms [env.py: 1075] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.180, -0.622, -0.004) [env.py: 1079] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg [env.py: 1082] +05/18 16:21:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/18 16:21:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:22 INFO: [Worker 0] Worker 0 house 2 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.907s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:21:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.540[m] 90.725[deg] [grasp_sample.py: 596] +05/18 16:21:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:21:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:21:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:21:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:31 INFO: [Worker 0] Worker 0 house 2 episode 45 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:22:45 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:22:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:22:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:22:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:22:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:22:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.91s (batch: 2.75s, save: 7.16s) [pipeline.py: 300] +05/18 16:22:56 INFO: [Worker 0] [PROFILE] Episode 45 house 2 success=True episode_total=0.33s: + episode_total: mean=94.04s, total=94.04s, count=1, min=94043.5ms, max=94043.5ms + sensor_polling: mean=206.2ms, total=61.86s, count=300, min=190.0ms, max=371.2ms + save_trajectories: mean=7.16s, total=7.16s, count=1, min=7158.7ms, max=7158.7ms + physics_step: mean=14.1ms, total=4.22s, count=300, min=10.9ms, max=17.4ms + save_batch_prep: mean=2.75s, total=2.75s, count=1, min=2754.2ms, max=2754.2ms + task_sampling: mean=334.3ms, total=334.3ms, count=1, min=334.3ms, max=334.3ms + task_specific_sample: mean=331.5ms, total=331.5ms, count=1, min=331.5ms, max=331.5ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=345.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:22:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:22:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:22:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:22:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:22:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:22:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:22:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.093m, effective arm-mount z=0.767m (base_body_z=-0.093m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.093256m [env.py: 870] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:22:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.20799439 -1.05703465 -0.09325642] yaw=153.0deg [env.py: 1019] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.29747546 -0.39798176 -0.09325642] yaw=-125.3deg [env.py: 1019] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1685409 -1.04935873 -0.09325642] yaw=158.5deg [env.py: 1019] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:22:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=62.3ms, total=62.3ms [env.py: 1075] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.208, -1.057, -0.093) [env.py: 1079] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.0 deg [env.py: 1082] +05/18 16:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/18 16:22:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:22:57 INFO: [Worker 0] Worker 0 house 2 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 16:22:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 16:22:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.384s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:59 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.561[m] 76.559[deg] [grasp_sample.py: 596] +05/18 16:23:00 ERROR: [Worker 0] Worker 0 house 2 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:23:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:23:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:23:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:23:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:23:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:23:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:23:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005767m [env.py: 870] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:23:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14416885 -0.73110197 0.0057668 ] yaw=-176.7deg [env.py: 1019] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09602394 -0.78752584 0.0057668 ] yaw=-152.0deg [env.py: 1019] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.01271747 -0.85458462 0.0057668 ] yaw=-189.3deg [env.py: 1019] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:23:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.9ms, total=127.9ms [env.py: 1075] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.144, -0.731, 0.006) [env.py: 1079] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.7 deg [env.py: 1082] +05/18 16:23:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.232m [env.py: 1086] +05/18 16:23:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:23:01 INFO: [Worker 0] Worker 0 house 2 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 16:23:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 16:23:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.817s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:23:03 ERROR: [Worker 0] Worker 0 house 2 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:23:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:23:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:23:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:23:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:05 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:23:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:23:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:23:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.095m, effective arm-mount z=0.765m (base_body_z=-0.095m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.095418m [env.py: 870] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:23:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15967709 -1.03089797 -0.09541834] yaw=201.5deg [env.py: 1019] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.53369091 -0.2266345 -0.09541834] yaw=-119.9deg [env.py: 1019] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.16929211 -0.20662806 -0.09541834] yaw=-135.8deg [env.py: 1019] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:23:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=56.1ms, total=56.1ms [env.py: 1075] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.160, -1.031, -0.095) [env.py: 1079] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.5 deg [env.py: 1082] +05/18 16:23:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.239m [env.py: 1086] +05/18 16:23:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:23:05 INFO: [Worker 0] Worker 0 house 2 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 16:23:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:23:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.926s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:23:07 ERROR: [Worker 0] Worker 0 house 2 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:23:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:23:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:23:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:08 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:23:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:23:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:23:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.025m, effective arm-mount z=0.835m (base_body_z=-0.025m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.024935m [env.py: 870] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:23:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.26025119 -0.12180134 -0.0249347 ] yaw=-107.5deg [env.py: 1019] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:23:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=140.3ms, total=140.4ms [env.py: 1075] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.260, -0.122, -0.025) [env.py: 1079] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.5 deg [env.py: 1082] +05/18 16:23:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.137m [env.py: 1086] +05/18 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:23:08 INFO: [Worker 0] Worker 0 house 2 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 16:23:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 16:23:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.841s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:23:10 ERROR: [Worker 0] Worker 0 house 2 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:23:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:23:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:23:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:12 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:23:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:23:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:23:12 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: 273] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009591m [env.py: 870] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:23:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.29275507 0.07166774 0.00959142] yaw=-129.5deg [env.py: 1019] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06779852 -0.37013452 0.00959142] yaw=-135.2deg [env.py: 1019] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 134.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.15117391 -1.19846371 0.00959142] yaw=174.5deg [env.py: 1019] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:23:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.2ms, total=105.3ms [env.py: 1075] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.293, 0.072, 0.010) [env.py: 1079] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.5 deg [env.py: 1082] +05/18 16:23:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.260m [env.py: 1086] +05/18 16:23:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:23:12 INFO: [Worker 0] Worker 0 house 2 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 16:23:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:23:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.854s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:23:14 ERROR: [Worker 0] Worker 0 house 2 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:23:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:23:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:23:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:23:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:15 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:23:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:23:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:23:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.080m, effective arm-mount z=0.780m (base_body_z=-0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079711m [env.py: 870] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:23:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.19416583 -0.67663736 -0.07971148] yaw=-151.0deg [env.py: 1019] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -180.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01960547 -1.44460153 -0.07971148] yaw=168.3deg [env.py: 1019] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.3356369 -0.05077805 -0.07971148] yaw=-147.3deg [env.py: 1019] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:23:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.1ms, total=129.1ms [env.py: 1075] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.194, -0.677, -0.080) [env.py: 1079] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.0 deg [env.py: 1082] +05/18 16:23:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/18 16:23:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:23:16 INFO: [Worker 0] Worker 0 house 2 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 16:23:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:23:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.784s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:23:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.409[m] 92.071[deg] [grasp_sample.py: 596] +05/18 16:23:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:23:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:23:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:23:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:23:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:21 INFO: [Worker 0] Worker 0 house 2 episode 51 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:24:35 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:24:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:24:35 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/18 16:24:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:24:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:24:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.03s (batch: 2.71s, save: 6.33s) [pipeline.py: 300] +05/18 16:24:44 INFO: [Worker 0] [PROFILE] Episode 51 house 2 success=True episode_total=1.66s: + episode_total: mean=16.75s, total=100.51s, count=6, min=2198.4ms, max=89091.6ms + sensor_polling: mean=205.5ms, total=58.78s, count=286, min=189.4ms, max=347.8ms + save_trajectories: mean=6.33s, total=6.33s, count=1, min=6325.9ms, max=6325.9ms + physics_step: mean=14.4ms, total=4.11s, count=286, min=10.9ms, max=16.4ms + save_batch_prep: mean=2.71s, total=2.71s, count=1, min=2707.4ms, max=2707.4ms + task_sampling: mean=276.7ms, total=1.66s, count=6, min=225.8ms, max=310.6ms + task_specific_sample: mean=274.4ms, total=1.65s, count=6, min=223.7ms, max=308.4ms + scene_randomize: mean=1.1ms, total=6.3ms, count=6, min=0.9ms, max=1.6ms + mj_forward_sync: mean=363.0us, total=2.2ms, count=6, min=0.3ms, max=0.4ms + policy_setup: mean=13.0us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:24:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:24:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:24:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044046m [env.py: 870] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.24436085 -0.38705164 -0.04404561] yaw=-159.8deg [env.py: 1019] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=142.8ms, total=142.8ms [env.py: 1075] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.244, -0.387, -0.044) [env.py: 1079] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg [env.py: 1082] +05/18 16:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/18 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:46 INFO: [Worker 0] Worker 0 house 2 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:24:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.848s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.736[m] 77.181[deg] [grasp_sample.py: 596] +05/18 16:24:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:24:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:24:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:25:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:25:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:55 INFO: [Worker 0] Worker 0 house 2 episode 52 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:26:10 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:26:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:26:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:26:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:26:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:26:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.72s (batch: 2.80s, save: 6.92s) [pipeline.py: 300] +05/18 16:26:20 INFO: [Worker 0] [PROFILE] Episode 52 house 2 success=True episode_total=0.34s: + episode_total: mean=94.51s, total=94.51s, count=1, min=94511.4ms, max=94511.4ms + sensor_polling: mean=204.8ms, total=61.43s, count=300, min=195.6ms, max=390.0ms + save_trajectories: mean=6.92s, total=6.92s, count=1, min=6921.9ms, max=6921.9ms + physics_step: mean=14.4ms, total=4.31s, count=300, min=11.0ms, max=17.6ms + save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2796.3ms, max=2796.3ms + task_sampling: mean=336.7ms, total=336.7ms, count=1, min=336.7ms, max=336.7ms + task_specific_sample: mean=332.3ms, total=332.3ms, count=1, min=332.3ms, max=332.3ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=378.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:26:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:26:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:26:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:22 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:26:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:26:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:26:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021139m [env.py: 870] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:26:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 141.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.38965962 0.04758289 -0.0211389 ] yaw=-104.9deg [env.py: 1019] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18652472 -0.5796877 -0.0211389 ] yaw=-136.5deg [env.py: 1019] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.44476597 -0.28081268 -0.0211389 ] yaw=-163.1deg [env.py: 1019] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:26:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.2ms, total=120.2ms [env.py: 1075] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.390, 0.048, -0.021) [env.py: 1079] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.9 deg [env.py: 1082] +05/18 16:26:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.182m [env.py: 1086] +05/18 16:26:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:26:22 INFO: [Worker 0] Worker 0 house 2 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 16:26:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 16:26:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.927s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:26:24 ERROR: [Worker 0] Worker 0 house 2 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:26:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:26:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:26:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:26:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:26:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:26:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013308m [env.py: 870] +05/18 16:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:26:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.20938553 -0.2791823 0.01330829] yaw=-130.5deg [env.py: 1019] +05/18 16:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.03539649 -0.27327441 0.01330829] yaw=-154.2deg [env.py: 1019] +05/18 16:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03831232 -1.2253564 0.01330829] yaw=180.2deg [env.py: 1019] +05/18 16:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:26:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.9ms, total=115.9ms [env.py: 1075] +05/18 16:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.209, -0.279, 0.013) [env.py: 1079] +05/18 16:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.5 deg [env.py: 1082] +05/18 16:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/18 16:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:26:26 INFO: [Worker 0] Worker 0 house 2 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 16:26:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:26:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.958s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:26:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 73.381[deg] [grasp_sample.py: 596] +05/18 16:26:29 ERROR: [Worker 0] Worker 0 house 2 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:26:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:26:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:26:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:30 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:26:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:26:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:26:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054539m [env.py: 870] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:26:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.45449695 -0.23055296 0.05453885] yaw=-107.7deg [env.py: 1019] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.07962313 -0.86170539 0.05453885] yaw=-198.4deg [env.py: 1019] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.16228559 -0.88211516 0.05453885] yaw=-168.0deg [env.py: 1019] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:26:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.1ms, total=103.1ms [env.py: 1075] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.454, -0.231, 0.055) [env.py: 1079] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.7 deg [env.py: 1082] +05/18 16:26:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/18 16:26:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:26:30 INFO: [Worker 0] Worker 0 house 2 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 16:26:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 16:26:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.723s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:26:33 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.658[m] 102.037[deg] [grasp_sample.py: 596] +05/18 16:26:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:26:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:26:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:27:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:27:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:27:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.872s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.104[m] 0.659[deg] [grasp_sample.py: 596] +05/18 16:27:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:27:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:27:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:48 INFO: [Worker 0] Worker 0 house 2 episode 55 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:28:03 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:28:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:28:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:28:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:28:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:28:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.63s (batch: 2.70s, save: 6.94s) [pipeline.py: 300] +05/18 16:28:13 INFO: [Worker 0] [PROFILE] Episode 55 house 2 success=True episode_total=0.87s: + episode_total: mean=36.11s, total=108.34s, count=3, min=2353.8ms, max=102761.7ms + sensor_polling: mean=203.5ms, total=61.06s, count=300, min=191.2ms, max=360.1ms + save_trajectories: mean=6.94s, total=6.94s, count=1, min=6937.8ms, max=6937.8ms + physics_step: mean=13.8ms, total=4.13s, count=300, min=10.9ms, max=19.7ms + save_batch_prep: mean=2.70s, total=2.70s, count=1, min=2695.0ms, max=2695.0ms + task_sampling: mean=290.3ms, total=870.9ms, count=3, min=275.4ms, max=307.1ms + task_specific_sample: mean=287.9ms, total=863.6ms, count=3, min=273.3ms, max=304.2ms + scene_randomize: mean=1.2ms, total=3.7ms, count=3, min=0.9ms, max=1.9ms + mj_forward_sync: mean=349.5us, total=1.0ms, count=3, min=0.3ms, max=0.4ms + policy_setup: mean=14.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:28:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:14 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.063m, effective arm-mount z=0.797m (base_body_z=-0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.062658m [env.py: 870] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 173.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 146.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12217488 -0.50668432 -0.06265835] yaw=-173.5deg [env.py: 1019] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.15798386 -0.84555201 -0.06265835] yaw=-199.1deg [env.py: 1019] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.43867536 -0.15970413 -0.06265835] yaw=-145.1deg [env.py: 1019] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.6ms, total=127.7ms [env.py: 1075] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.122, -0.507, -0.063) [env.py: 1079] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.5 deg [env.py: 1082] +05/18 16:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.265m [env.py: 1086] +05/18 16:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:14 INFO: [Worker 0] Worker 0 house 2 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.797s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:16 ERROR: [Worker 0] Worker 0 house 2 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:18 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.025758m [env.py: 870] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.01181724 -0.98309221 -0.02575763] yaw=157.4deg [env.py: 1019] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.19832991 -0.7808254 -0.02575763] yaw=-161.3deg [env.py: 1019] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.21803187 -1.15019136 -0.02575763] yaw=192.6deg [env.py: 1019] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.5ms, total=135.5ms [env.py: 1075] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.012, -0.983, -0.026) [env.py: 1079] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.4 deg [env.py: 1082] +05/18 16:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:18 INFO: [Worker 0] Worker 0 house 2 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.073s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.711[m] 111.871[deg] [grasp_sample.py: 596] +05/18 16:28:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:28:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:28:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:26 INFO: [Worker 0] Worker 0 house 2 episode 57 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:29:41 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:29:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:29:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:29:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:29:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:29:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.36s (batch: 2.57s, save: 6.79s) [pipeline.py: 300] +05/18 16:29:51 INFO: [Worker 0] [PROFILE] Episode 57 house 2 success=True episode_total=0.62s: + episode_total: mean=47.64s, total=95.27s, count=2, min=2221.4ms, max=93049.2ms + sensor_polling: mean=204.0ms, total=61.19s, count=300, min=188.4ms, max=433.7ms + save_trajectories: mean=6.79s, total=6.79s, count=1, min=6794.1ms, max=6794.1ms + physics_step: mean=14.0ms, total=4.20s, count=300, min=11.2ms, max=25.4ms + save_batch_prep: mean=2.57s, total=2.57s, count=1, min=2570.4ms, max=2570.4ms + task_sampling: mean=309.9ms, total=619.8ms, count=2, min=307.0ms, max=312.8ms + task_specific_sample: mean=307.4ms, total=614.8ms, count=2, min=304.6ms, max=310.1ms + scene_randomize: mean=1.3ms, total=2.5ms, count=2, min=0.9ms, max=1.7ms + mj_forward_sync: mean=336.5us, total=0.7ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=14.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:29:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:29:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:29:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:29:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:52 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:29:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:29:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:29:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042183m [env.py: 870] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:29:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.13223329 -0.64179896 0.04218278] yaw=-162.9deg [env.py: 1019] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.1678648 -0.52478611 0.04218278] yaw=-172.7deg [env.py: 1019] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:29:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.2ms, total=138.3ms [env.py: 1075] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.132, -0.642, 0.042) [env.py: 1079] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.9 deg [env.py: 1082] +05/18 16:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/18 16:29:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:29:52 INFO: [Worker 0] Worker 0 house 2 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 16:29:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 16:29:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:29:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:29:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:29:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:29:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.545[m] 70.320[deg] [grasp_sample.py: 596] +05/18 16:29:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:29:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:29:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:30:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:01 INFO: [Worker 0] Worker 0 house 2 episode 58 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:31:15 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:31:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:31:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:31:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:31:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:31:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.59s (batch: 2.78s, save: 6.81s) [pipeline.py: 300] +05/18 16:31:25 INFO: [Worker 0] [PROFILE] Episode 58 house 2 success=True episode_total=0.32s: + episode_total: mean=93.24s, total=93.24s, count=1, min=93239.6ms, max=93239.6ms + sensor_polling: mean=206.0ms, total=61.81s, count=300, min=188.3ms, max=417.7ms + save_trajectories: mean=6.81s, total=6.81s, count=1, min=6810.0ms, max=6810.0ms + physics_step: mean=13.7ms, total=4.10s, count=300, min=10.9ms, max=17.6ms + save_batch_prep: mean=2.78s, total=2.78s, count=1, min=2780.7ms, max=2780.7ms + task_sampling: mean=323.4ms, total=323.4ms, count=1, min=323.4ms, max=323.4ms + task_specific_sample: mean=321.0ms, total=321.0ms, count=1, min=321.0ms, max=321.0ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=331.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:31:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:26 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056154m [env.py: 870] +05/18 16:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17435661 -1.12855922 0.05615363] yaw=196.7deg [env.py: 1019] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.21197635 -1.06904359 0.05615363] yaw=181.8deg [env.py: 1019] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.2ms [env.py: 1075] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.174, -1.129, 0.056) [env.py: 1079] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.7 deg [env.py: 1082] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.267m [env.py: 1086] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:27 INFO: [Worker 0] Worker 0 house 2 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.854s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:31:29 ERROR: [Worker 0] Worker 0 house 2 episode 59 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:31:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:30 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089656m [env.py: 870] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 139.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19295659 -0.8347967 0.08965641] yaw=-181.8deg [env.py: 1019] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.11579228 -0.73910681 0.08965641] yaw=-174.7deg [env.py: 1019] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.58295331 -0.17729004 0.08965641] yaw=-135.6deg [env.py: 1019] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.2ms, total=125.2ms [env.py: 1075] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.193, -0.835, 0.090) [env.py: 1079] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.8 deg [env.py: 1082] +05/18 16:31:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.270m [env.py: 1086] +05/18 16:31:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:30 INFO: [Worker 0] Worker 0 house 2 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.826s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:31:32 ERROR: [Worker 0] Worker 0 house 2 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:31:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:34 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014702m [env.py: 870] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 139.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.06112197 -1.36160419 -0.01470248] yaw=182.6deg [env.py: 1019] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17517285 -1.04396481 -0.01470248] yaw=162.2deg [env.py: 1019] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.36462353 0.01200155 -0.01470248] yaw=-138.2deg [env.py: 1019] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.1ms, total=124.1ms [env.py: 1075] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.061, -1.362, -0.015) [env.py: 1079] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.6 deg [env.py: 1082] +05/18 16:31:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.107m [env.py: 1086] +05/18 16:31:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:34 INFO: [Worker 0] Worker 0 house 2 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.835s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.733[m] 90.340[deg] [grasp_sample.py: 596] +05/18 16:31:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:31:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:31:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:32:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:32:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:32:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:32:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:43 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.331s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:32:43 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.049[m] 0.658[deg] [grasp_sample.py: 596] +05/18 16:32:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:32:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:32:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:49 INFO: [Worker 0] Worker 0 house 2 episode 61 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:33:04 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [pipeline.py: 1174] +05/18 16:33:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_074 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:33:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:33:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:33:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_074 [save_utils.py: 785] +05/18 16:33:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_074 in 9.68s (batch: 2.89s, save: 6.79s) [pipeline.py: 300] +05/18 16:33:14 INFO: [Worker 0] [PROFILE] Episode 61 house 2 success=True episode_total=0.92s: + episode_total: mean=35.04s, total=105.13s, count=3, min=2217.6ms, max=100623.2ms + sensor_polling: mean=203.7ms, total=61.12s, count=300, min=188.8ms, max=376.8ms + save_trajectories: mean=6.79s, total=6.79s, count=1, min=6789.1ms, max=6789.1ms + physics_step: mean=14.2ms, total=4.27s, count=300, min=9.7ms, max=26.8ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2891.4ms, max=2891.4ms + task_sampling: mean=305.9ms, total=917.7ms, count=3, min=293.7ms, max=329.5ms + task_specific_sample: mean=303.5ms, total=910.4ms, count=3, min=291.7ms, max=327.0ms + scene_randomize: mean=1.1ms, total=3.2ms, count=3, min=0.8ms, max=1.5ms + mj_forward_sync: mean=337.6us, total=1.0ms, count=3, min=0.3ms, max=0.4ms + policy_setup: mean=13.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:33:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:33:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:33:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:16 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:33:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:33:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:33:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078818m [env.py: 870] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:33:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03520113 -0.66430319 0.07881757] yaw=-175.5deg [env.py: 1019] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:33:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.2ms [env.py: 1075] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.035, -0.664, 0.079) [env.py: 1079] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg [env.py: 1082] +05/18 16:33:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.138m [env.py: 1086] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:33:16 INFO: [Worker 0] Worker 0 house 2 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 16:33:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/18 16:33:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.905s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:33:18 ERROR: [Worker 0] Worker 0 house 2 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:33:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:33:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:33:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:19 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:33:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:33:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:33:19 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: 273] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011217m [env.py: 870] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:33:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23596 free points within sampling radius [env.py: 907] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02638375 -1.2808759 -0.01121665] yaw=140.1deg [env.py: 1019] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10002045 -1.05344426 -0.01121665] yaw=163.2deg [env.py: 1019] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.13501156 -0.20750988 -0.01121665] yaw=-168.8deg [env.py: 1019] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:33:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.2ms, total=80.2ms [env.py: 1075] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.026, -1.281, -0.011) [env.py: 1079] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 140.1 deg [env.py: 1082] +05/18 16:33:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.110m [env.py: 1086] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:33:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:33:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:33:20 INFO: [Worker 0] Worker 0 house 2 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 16:33:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:33:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:33:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:33:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:33:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.891s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:33:22 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.887[m] 114.192[deg] [grasp_sample.py: 596] +05/18 16:33:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:33:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:33:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] diff --git a/fridge_m_2house/sim/house_2/chunk_074/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_074/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a06d610f39e7e238045aa6dc7aa0c1fd8c0c4c89 --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_074/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10a91ffe2980a4a6bc913271f78e2083af456a69f6a1670566d659ffb4beb655 +size 1679146895