diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7033ea8724ae9fd7c3d396140d8db0a60eff3d36 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be97f4603648ffcf0ae227da4b8a6d7ec3765f4757d7d07296b40deccdb7a913 +size 789205 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bece381254f39f2076d499bfb84a997ca020422c --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e775ab7925313d4118739b7884acbb0c0aa8f418c248ff7bc7f632319a15eebf +size 652130 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ff36f5ba8d688dbf5f93e7f5db113d763fa3b5cc --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d267172311c03f43981ab74e10803f995188739749d5b2eccc6548bd75d3b07 +size 914946 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2ea8280c0845bfbccfd8f464493d243c0c82b4f0 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d13f76cfecdf293e3159a72db17b7aace628f7bbc3bb6c366a77c5f49ad82a1b +size 892298 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bfb481d661114ac0aa5f023e0dd32e4ad14ab6df --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb37a9cdde28c5e4ea86d872e92f2b7ec841301345a32beb582b42ca2d38a643 +size 232498 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..66692e8c1b7bede0bb98cd99552923b10183efb8 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46040ef1aff2cac0e2c961afab32d27bf6fc66aed3000c78e6b992fd7e04e091 +size 326607 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df5d0f38fc6ca92c762eb41be51d6cf56cfaa93b --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eef89bbd96d52dbc76bdd07b53f3c80652f17f5008d5c7f5f65fdd4d7c59ec28 +size 1035917 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b44cd0b6b90c9eab4b8c53b16e22d2a406d4a34f --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e30c0f920bc59ac607393ff45e3c7164ce7123b7a2cb81edccbdd4cdd842216b +size 881509 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..18e0d795632d87c0fc4590c37b2a858e5c01f088 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd00f6225e8aae1d0bbc5836e0737ecae4ad56c51a084f804ca5d8e8db43aa77 +size 701818 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..49b3108737758f2c9a5ad299465bb7c448c908a9 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e703519cb7b8acdb691f1b9b61052978623aa05ada9f09927ce2a4850ded9db7 +size 692209 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ee755a86686a76feb1b1b591dc7572665c593a2 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d5b8d2c175c7212918ab4a2bedcffd06bb7e601ef9753a4f33edcbcefe165a9 +size 138967 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..24c29ca556dcf0d7eb509f2d022f44de3c4c9d6b --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cdf678b17cd0fd7c332de9c842b3f2ace64b15e5c030e1f020d75e6f6eb1869 +size 392915 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1d789ea14fd96ca24a66c62ea0936aaa91ffebfb --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36baa77357374f712b085f327369c5499dcb10ed945b7680f514b1cba10e13f2 +size 700765 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..631284f2643aad86d3c6e5714c4b51ebf26b4c35 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ce1e98cd8eda3144a8c3d7706ec8166f352636244d46d48ae4644a6e79cfe54 +size 508691 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dce8e60e12cc769e414674e4e5b829605ede8427 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78cfc4a742b7155804922dffe79745c022aaac78ae3370edaa1470a6961f52c7 +size 534771 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..527bd0f7c509fc5227f30e725e589e6a6c1aec2d --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:365acedadcc4f7ec2a6991e574c63f76b91ecd6fdb448d94629fe48f8dca2941 +size 1002699 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..692d40a93d3de1cd7ce41abcfed6e9ae0321b6f5 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91e4053c356bfa7a1c1323511bd765c289b331624ee9c07694b0b4f350a318b9 +size 304563 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a759cc1b357df490416eaa6f008c394b6008bc37 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4a415324abb872bc36351590181a1ef0925373fdbcfbeddaeff839916dcaad5 +size 473830 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..937aa6708974b33234e8c99addecfa8daf1bc3c9 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fb8ffda6819735108872b7394ec6e41705becf045a83298d08a6e2d3c27fc38 +size 689520 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8a210166c76d753c663f6b30100e60f0c552bf36 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94a7387b6d1e53d180a7289124a44cce71b525f9290fac84625a47f0f36964ad +size 532371 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..347974094b1b148ed182f76d9853d54acc711535 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14f47fc36ffa62814987d740ee059f80ee8001b56949bd474db3020ce40077b5 +size 490349 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b133349cdc2b5f93d5b461a3e34d16e2d576b813 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43d90b0bee1220f3e76e26eaa0f4bf54ae7733a45fe9f133fc02084e94e12339 +size 686998 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4219ee289e736fa7c3fa0f69831cdd09ae80d972 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d3fdde3ca5a5c8aa7be07bfc3334cd7d734376d9162731a8364a2c695df4d56 +size 158785 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..43765386e2349de16fe8403f51c28547aa7255e4 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1df79b18433385562c2f5ac7330ea63c9aeae6d1e6939f57b1797665b49f9856 +size 371195 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8cdcba1f901f65ac91fb1b9adc09621f68bd7e28 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23a5aa226a6e8c6278094419215dae7fd09674dd6080b3e90164daa5d944d0ee +size 1026880 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c15a8208c757c8d0ead1e213ab745d441fa291f3 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e205e4fe23a0977920227a5f1da81d4665d57fba6d01fcdbaa9b9a1fb811ebc1 +size 882407 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b085f3ad460737c2af5e446bc7ca80eeed0dc386 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94ed723af33a4dd5be3668d222982bb8d421a16d9c76c8dc511037cefa330741 +size 833294 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..683c70d1c4e88228557b8c97ba66ed7c11d88afe --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a1363339e4bd97f99e7cbb211de40be58a4eb397bbe6261e02b271d8763d3e7 +size 614090 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c75ee6ac5f750c25aeac20d178e227816ee1dc43 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:233929f7d4d8fea51acdf632fcf9fd094587346e20fae0324dc61292fad8549c +size 98927 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6d0123c8a9fc033fb0c46a667ff64de7dff975b8 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6128f7da2b712c52847398890f907c2e5d3f914bda0d21a696f8e8397c597f4f +size 364558 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..41704d7f2a8bb07eef032e586bb6ee2f1bb2193e --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d995ea55500e4371344d341db36cf52d2a07c0133fc26732b9a18ad15a84e374 +size 984665 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2d319c51df19107fb12e0709e092f103895cd1f3 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b1ddaf7d81c47ee6d27deec29ec1cb2ca7616161c07c5824c6342d0688d209c +size 766244 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5ccdf2df776dee6ccd5536cdae0aff81a9ae5f16 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72a9cbc7d306769f4d1e9777792dee145a330eb0ee2edac3804ecb9c0443b2ad +size 902889 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e40c40162fe13a406470508038c598342b46d99 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecb2e46fd54f63fd45ba941a3cad8f963f05c1cb7f892c13efdd9edd4c2d10e5 +size 663514 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5bc0b4a83f8b7d52f54bc1acbe52992313f95497 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f02019920f39500ba7dbbc23040e267d7d6b85d09d0a155cce46279d31f09b89 +size 138590 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..edb796cf1448f6ee5c831d0d969c56befccd33ab --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cfcf21f4bcd19420f070e28148f751385d3883258ee231869e97e45a92878c3 +size 399396 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..68945b3cd550db14365b150205be82a00b13bc7c --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6697370b3f1c2da9bdad795cd0ac9d022bc771eaf37a69c5c6db137cf8585a00 +size 915796 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a4377757a793ae752380291b1d80f7342fbbf00 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5da322e4ce12c5876d20f015b06e2578c5ff283480f247eb55628cbd9ed38e3 +size 739504 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b2f0276c00e385b67580203a84e6efdfd7e88c9 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efe0c468c0f9ed72d8eead17ee5ef66dc9a5c47ca9ced69d7623b7898d8debb9 +size 676579 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c114e9581c638e50f50d926bc621fd1c2a161320 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:596f8cf2b883648b6cec3e5ad32ea1b355e90c5726feabe283a229dafd26135e +size 748230 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a63a4328d369a094b451707469ab809e88855ee --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9a99bf3daa6b44a6f70b9424008f690bc884cb5653bf77c1c6b6980cc038bec +size 141927 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cc34bb389acd259c1635a6acb85691b288958988 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:104a77a777382f2e9b5161c7f4b55ed01d84717c8f4fe2e685a76c1599212103 +size 426402 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ab95b6ba0bbf396c17e4fec82058c367944b7b79 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06c180f9b28f5269e2ddf4a09d943c0c779e1152934e1580daaa31bce505e5b7 +size 986394 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5e2728d46ced406cc306d7849f5fbcd15c680437 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a9cac8d0bb3232748524893b021c55565d25ff7f5cf41815c2925271172165d +size 818924 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ea544eda8f6d8c5b5583782c01760ec464e3c616 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed8af9dd67b3cf62c772cbbd196de9b162db2732e912c9433d5fdda88001b541 +size 626275 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c8962838069f8b8654333c452350f1d3ef3ceb23 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4904cde94bd12a0e7f77306b35115d388eef84e405d5d9439e6a1047fe036cac +size 924529 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..402cce3509e243b96856143848a09326c3fcece0 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5dba239e17816f74c3b5665ddff2be3ed1754c9f83c23c39ba911d839845d09a +size 214675 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..096f17435f5393d5b37595b745380f7e40c20ec4 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a8339003fe09e76c95ebaef3403a26aaea30da066b6d7b87da720c97cc2792c +size 318016 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b1e6d2a1569e2c3448c2353deb424e70754b0593 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c81b18f53c7a339ccb3c54351d619ef0c94dac3e0eac6ac4e0465d21e0f86b20 +size 900171 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c953de9e1f025e292db0e0f3ed5a87622a2cb9cb --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d94b9cde6238d7ba35a80e7952fe1d53cb033c1596efbd953b5bda69175e288 +size 751479 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ead245d2dfb501a1f5ab6c19cca1d445271b836b --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fb5080c58d0751fd3e4672e6350d05784b6aee408e5f3dd2e2ccde415722d83 +size 819949 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..98338690dde66399ca2d4eca969d6fb825019953 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20a552be9a0309dd5d1422d0fb2195aa1b61724c329698995af39d1613ca3c05 +size 621210 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..da6f84e233a479e0204e6d989dd7373330980d91 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb23deac183d7e2583f64e067de1c1275166b0b948f7f31b8551a5415cfd53f4 +size 87607 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ada6b62bd503f6cde27161e022fc8029eb5b525d --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ecf46fd073cff0973c415fb1115aef0a0eca958da24b2ad9f3d35053eb9330f +size 486462 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..20f7e62a94c4f169c168ebd53e3255d66fe99d7b --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ef2caec9944181d04fd33d36aef94716f2bdd434647fcbb240cf83c87cc62e4 +size 880747 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c3fd5fd683e197d8ab95d5d38ad0754ba69336b9 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2af78500ab04fcd7c79331c7bb8040f8dc1924f3360f895be25e8f2b9e189f51 +size 735352 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..013f1c95ae59ae5c1c26e7e0e722d3e638dfc627 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2274bcf4b07e3b8068f12fb0e0ff66b6ecb3e33852bd2e2a814b6856bcc4eec8 +size 780015 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..03bfad072a3c6d6fdf275d23005264f8a80111a2 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd50858ae112a4d1c39062a2ff854eeb07b02712772320d8e2605a400ad12ac7 +size 630414 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..94a27a67781f14f46abfed780945a12ed3f339de --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41127e566c3fa43963ca78ae5a43f64d1b9936138b08b265adc4a4bb4a6e33b1 +size 141641 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e80acd4d6ffaf57c773c21803127cd472a37917d --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64923315e3b52592e101eae2bbb95340669adf37675a01fa533fda9ecd4c1e11 +size 373894 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a9313993820cf504577f7ba91e023374727d284e --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5185d031eccedcf31e0291d2e48d212c9c9cd0069d165675163f96ced9ee46d1 +size 811602 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..63313df023da8631831f3c5836f3c39c8e8b6699 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75247c55a1e663dee900b45595d69d7d3ad7f506a9681ff7360c351c2ebdea3e +size 690916 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d58af695a7c920e6f52130134ccc07e9eef99e7d --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3698225dd267eeab892f8a83bb138ce3904ca3ab612e1712bc3bc0778fefa3a4 +size 714761 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..21645cffb06058c1f6e8ad4064c3bf6fac72c06e --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6239b01ae6e2dfa1fc421ef1f853a2b7b74c4ee440524762e531dccfbeed17f8 +size 904782 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..05e1ee813ab0ede75d780c12ab636a40defeef28 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da5b332e69b1ebf0e54dc51c33286dcdea1d23e6446e4af2f14e96a1ffa99e43 +size 154245 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c30164b2ab2cfd6c5f8365c679a6262f80685747 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a2bf29d886aed3c6f5b9bdecc507127c44f3f4931492b6fee4d71c121500e3f +size 375501 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..be033f2cb99930f3e2db24b4de801fdd4b046529 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32ef384a1f1fa4213705036f0e74508749a66e5949e4c594c9661c3a16903cea +size 1008723 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..695f009b406b66b3cab86e16528c2deac67a84f6 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88f790aca53b2b6f830de0cbbfb347ec5c54b43d1d993be6cdb91fbf25781415 +size 849925 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9307b32ddf717a36e94675defbb57ed75dd1a6dc --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9163f8245fd4a8b14f2b33c0d6b872c01249b2823cd976c447f82e0fdb1d4ce5 +size 774965 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..23bb01ba0ad8e9e9a6a882c0d6d58ce72d8857b7 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d7b1e2e1577ecbda4400dad63573f211d9d6ce60cbc75026d812eaebe2335c8 +size 724580 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..47ac959d0bd33f11f6964d786e109cd1b02ddda9 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b9b5dd09094e82e87e1b4592137d78d01e735c3de1b8a3fdf16dbe545752098 +size 391833 diff --git a/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a3837c5883607e22366c848500fdd67531ee8eb --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69cc3b4107848e9349b1da82f15fc99c67d7850d06c00d2f9e39ca3527d54127 +size 418957 diff --git a/fridge_m_2house/sim/house_1/chunk_006/experiment_config_20260518_154257.pkl b/fridge_m_2house/sim/house_1/chunk_006/experiment_config_20260518_154257.pkl new file mode 100644 index 0000000000000000000000000000000000000000..9c7690e6483eedc5e1f3f2e7e733124146677ae3 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/experiment_config_20260518_154257.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fa84612bb8e3751fb4ed1b9a3b90321fca4e71dbb413b64ea160f6527e65929 +size 8153 diff --git a/fridge_m_2house/sim/house_1/chunk_006/running_log.log b/fridge_m_2house/sim/house_1/chunk_006/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..621497f4b43ae99468b0013ef427adfc05680382 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/running_log.log @@ -0,0 +1,3449 @@ +05/18 15:42:57 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 15:42:57 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 15:42:57 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:42:57 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_2house/sim_chunks/chunk_006'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 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': 30006, + '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': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + '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 15:42:57 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 15:42:57 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:42:57 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 15:42:58 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:43:01 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 15:43:01 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 15:43:01 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:43:01 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:43:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:43:01 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 15:43:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089151m [env.py: 870] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:01 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 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.40353425 0.12704824 0.08915096] yaw=-114.0deg [env.py: 1019] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.39086644 -0.31164518 0.08915096] yaw=-114.0deg [env.py: 1019] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.49750257 -0.04370233 0.08915096] yaw=-102.3deg [env.py: 1019] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=24.9ms, retries=142.5ms, total=167.4ms [env.py: 1075] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.404, 0.127, 0.089) [env.py: 1079] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.0 deg [env.py: 1082] +05/18 15:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.198m [env.py: 1086] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:01 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:27 INFO: [Worker 0] Warmed up parallel IK solver in 25.523s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:29 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.023s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:43:29 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:43:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:43:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:43:30 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 15:43:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.017674m [env.py: 870] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 145.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.46555027 -0.20808321 -0.01767416] yaw=-105.0deg [env.py: 1019] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.09122186 -0.36670734 -0.01767416] yaw=-157.8deg [env.py: 1019] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.10480321 -0.34390687 -0.01767416] yaw=-138.9deg [env.py: 1019] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=107.2ms, total=107.2ms [env.py: 1075] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.466, -0.208, -0.018) [env.py: 1079] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.0 deg [env.py: 1082] +05/18 15:43:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:31 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.032s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:34 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.213s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:43:34 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.561[m] 80.261[deg] [grasp_sample.py: 596] +05/18 15:43:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:43:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:43:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:43:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:44:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:44:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:45:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:45:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:45:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:45:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:45:18 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.379[m] 53.641[deg] [grasp_sample.py: 596] +05/18 15:45:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:45:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:45:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:45:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:45:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:45:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:45:20 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.243[m] 55.811[deg] [grasp_sample.py: 596] +05/18 15:45:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:45:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:45:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:25 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:45:25 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=4.28s: + episode_total: mean=73.06s, total=146.12s, count=2, min=31593.7ms, max=114523.5ms + sensor_polling: mean=312.0ms, total=93.59s, count=300, min=293.3ms, max=467.8ms + physics_step: mean=18.5ms, total=5.54s, count=300, min=13.6ms, max=27.2ms + task_sampling: mean=2.14s, total=4.28s, count=2, min=300.3ms, max=3975.4ms + scene_load: mean=3.60s, total=3.60s, count=1, min=3597.7ms, max=3597.7ms + scene_env_create: mean=2.46s, total=2.46s, count=1, min=2460.0ms, max=2460.0ms + scene_compile: mean=1.02s, total=1.02s, count=1, min=1019.9ms, max=1019.9ms + compile_mujoco: mean=743.4ms, total=743.4ms, count=1, min=743.4ms, max=743.4ms + task_specific_sample: mean=336.6ms, total=673.1ms, count=2, min=297.8ms, max=375.4ms + compile_xml_load: mean=206.8ms, total=206.8ms, count=1, min=206.8ms, max=206.8ms + scene_init: mean=75.5ms, total=75.5ms, count=1, min=75.5ms, max=75.5ms + scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms + compile_aux_objects: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms + compile_aux_policy_objects: mean=40.7ms, total=40.7ms, count=1, min=40.7ms, max=40.7ms + asset_install_grasps: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms + compile_robot_add: mean=22.2ms, total=22.2ms, count=1, min=22.2ms, max=22.2ms + asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms + asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + scene_randomize: mean=1.1ms, total=2.3ms, count=2, min=1.0ms, max=1.3ms + mj_forward_sync: mean=372.2us, total=0.7ms, count=2, min=0.3ms, max=0.4ms + policy_setup: mean=20.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:45:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:45:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:45:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:45:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:45:26 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 15:45:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:45:26 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 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.027034m [env.py: 870] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:45:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15471401 -0.57880999 -0.02703386] yaw=-170.8deg [env.py: 1019] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 138.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05502393 -1.36063869 -0.02703386] yaw=168.9deg [env.py: 1019] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.0882908 -0.45812303 -0.02703386] yaw=-129.7deg [env.py: 1019] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:45:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.4ms, total=135.5ms [env.py: 1075] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.155, -0.579, -0.027) [env.py: 1079] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.8 deg [env.py: 1082] +05/18 15:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.262m [env.py: 1086] +05/18 15:45:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:45:26 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:45:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/18 15:45:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:45:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:45:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:29 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.073s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:45:29 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:45:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:45:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:45:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:45:30 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 15:45:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:45:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051775m [env.py: 870] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:45:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19967301 -0.2938333 0.05177482] yaw=-163.8deg [env.py: 1019] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.25341903 -1.27495072 0.05177482] yaw=156.0deg [env.py: 1019] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.06418317 -0.71852871 0.05177482] yaw=-167.5deg [env.py: 1019] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:45:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.2ms [env.py: 1075] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.200, -0.294, 0.052) [env.py: 1079] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg [env.py: 1082] +05/18 15:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/18 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:45:30 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:45:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 15:45:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:45:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:45:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:35 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.971s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:45:35 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.715[m] 102.448[deg] [grasp_sample.py: 596] +05/18 15:45:36 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:45:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:45:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:45:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:45:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:45:37 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 15:45:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:45:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:45:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:45:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:45:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014073m [env.py: 870] +05/18 15:45:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:45:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:45:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:45:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.20052493 -0.58750666 0.01407287] yaw=-174.6deg [env.py: 1019] +05/18 15:45:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:45:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.02279784 -0.81511368 0.01407287] yaw=-149.1deg [env.py: 1019] +05/18 15:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.28447934 -0.07749381 0.01407287] yaw=-152.8deg [env.py: 1019] +05/18 15:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:45:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.9ms, total=124.9ms [env.py: 1075] +05/18 15:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.201, -0.588, 0.014) [env.py: 1079] +05/18 15:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.6 deg [env.py: 1082] +05/18 15:45:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/18 15:45:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:45:38 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:45:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s [base_object_manipulation_planner_policy.py: 377] +05/18 15:45:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:45:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:45:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:38 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.530s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:45:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.562[m] 110.670[deg] [grasp_sample.py: 596] +05/18 15:45:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:45:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:45:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:39 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 15:46:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:46:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:20 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:47:35 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 15:47:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:47:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:47:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:47:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 15:47:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.60s (batch: 2.41s, save: 8.19s) [pipeline.py: 300] +05/18 15:47:46 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.96s: + episode_total: mean=45.89s, total=137.67s, count=3, min=2504.2ms, max=128852.8ms + sensor_polling: mean=312.7ms, total=93.81s, count=300, min=288.8ms, max=470.6ms + save_trajectories: mean=8.19s, total=8.19s, count=1, min=8185.7ms, max=8185.7ms + physics_step: mean=19.4ms, total=5.82s, count=300, min=13.8ms, max=23.8ms + save_batch_prep: mean=2.41s, total=2.41s, count=1, min=2413.2ms, max=2413.2ms + task_sampling: mean=319.2ms, total=957.7ms, count=3, min=311.4ms, max=324.5ms + task_specific_sample: mean=316.6ms, total=949.8ms, count=3, min=308.9ms, max=321.8ms + scene_randomize: mean=1.2ms, total=3.6ms, count=3, min=1.1ms, max=1.3ms + mj_forward_sync: mean=396.2us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.6us, 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 15:47:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:47:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:47:47 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 15:47:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:47 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 15:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063022m [env.py: 870] +05/18 15:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:47:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.07728097 -0.56386004 0.06302222] yaw=-149.1deg [env.py: 1019] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20858618 -1.31789999 0.06302222] yaw=175.5deg [env.py: 1019] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 126.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.12900224 -0.36321514 0.06302222] yaw=-175.9deg [env.py: 1019] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.8ms, total=122.8ms [env.py: 1075] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.077, -0.564, 0.063) [env.py: 1079] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.1 deg [env.py: 1082] +05/18 15:47:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.191m [env.py: 1086] +05/18 15:47:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:48 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:50 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.068s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:47:50 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:47:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:47:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:47:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038401m [env.py: 870] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.4967282 -0.17922345 -0.03840087] yaw=-158.1deg [env.py: 1019] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.32422106 -0.32163027 -0.03840087] yaw=-164.5deg [env.py: 1019] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.08396151 -0.94800582 -0.03840087] yaw=185.2deg [env.py: 1019] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.2ms, total=135.2ms [env.py: 1075] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.497, -0.179, -0.038) [env.py: 1079] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg [env.py: 1082] +05/18 15:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/18 15:47:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:51 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:52 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.480s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:47:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.577[m] 61.460[deg] [grasp_sample.py: 596] +05/18 15:47:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:47:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:47:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:53 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 15:48:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:48:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:49:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:49:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:22 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.039s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:49:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.630[deg] [grasp_sample.py: 596] +05/18 15:49:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:49:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:49:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:49:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:49 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:50:05 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 15:50:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:50:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:50:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:50:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 15:50:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.75s (batch: 2.37s, save: 8.39s) [pipeline.py: 300] +05/18 15:50:16 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.64s: + episode_total: mean=73.59s, total=147.18s, count=2, min=2513.9ms, max=144663.1ms + sensor_polling: mean=316.1ms, total=94.84s, count=300, min=290.8ms, max=472.6ms + save_trajectories: mean=8.39s, total=8.39s, count=1, min=8386.0ms, max=8386.0ms + physics_step: mean=18.6ms, total=5.57s, count=300, min=13.1ms, max=22.2ms + save_batch_prep: mean=2.37s, total=2.37s, count=1, min=2368.5ms, max=2368.5ms + task_sampling: mean=320.0ms, total=640.0ms, count=2, min=318.9ms, max=321.1ms + task_specific_sample: mean=316.6ms, total=633.1ms, count=2, min=315.9ms, max=317.3ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.6ms + mj_forward_sync: mean=400.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.5us, 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 15:50:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:50:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:50:17 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 15:50:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011094m [env.py: 870] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 151.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.09967972 -0.20318618 0.01109404] yaw=-153.6deg [env.py: 1019] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=163.1ms, total=163.2ms [env.py: 1075] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.100, -0.203, 0.011) [env.py: 1079] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.6 deg [env.py: 1082] +05/18 15:50:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.179m [env.py: 1086] +05/18 15:50:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:17 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:20 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.076s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:50:20 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:50:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:50:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:50:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082607m [env.py: 870] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.31284117 -0.32189076 0.08260728] yaw=-132.6deg [env.py: 1019] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02010859 -0.96416989 0.08260728] yaw=190.9deg [env.py: 1019] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=165.1ms, total=165.2ms [env.py: 1075] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.313, -0.322, 0.083) [env.py: 1079] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.6 deg [env.py: 1082] +05/18 15:50:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/18 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:21 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.032s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:23 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.010s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.587[m] 107.627[deg] [grasp_sample.py: 596] +05/18 15:50:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:50:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:50:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:24 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 15:51:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:51:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:05 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:52:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 15:52:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:52:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:52:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:52:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 15:52:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.47s (batch: 2.33s, save: 8.14s) [pipeline.py: 300] +05/18 15:52:30 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.72s: + episode_total: mean=66.17s, total=132.35s, count=2, min=2560.3ms, max=129789.2ms + sensor_polling: mean=312.2ms, total=93.67s, count=300, min=282.7ms, max=506.3ms + save_trajectories: mean=8.14s, total=8.14s, count=1, min=8138.0ms, max=8138.0ms + physics_step: mean=18.8ms, total=5.63s, count=300, min=13.4ms, max=21.8ms + save_batch_prep: mean=2.33s, total=2.33s, count=1, min=2329.6ms, max=2329.6ms + task_sampling: mean=360.3ms, total=720.6ms, count=2, min=354.9ms, max=365.7ms + task_specific_sample: mean=357.4ms, total=714.9ms, count=2, min=352.1ms, max=362.7ms + scene_randomize: mean=1.4ms, total=2.9ms, count=2, min=1.1ms, max=1.8ms + mj_forward_sync: mean=398.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.0us, 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 15:52:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:52:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:52:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:52:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.070m, effective arm-mount z=0.790m (base_body_z=-0.070m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.070047m [env.py: 870] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 141.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.11439141 -0.47520024 -0.07004658] yaw=-131.6deg [env.py: 1019] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.01909957 -0.95394686 -0.07004658] yaw=193.2deg [env.py: 1019] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.2ms, total=159.3ms [env.py: 1075] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.114, -0.475, -0.070) [env.py: 1079] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.6 deg [env.py: 1082] +05/18 15:52:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/18 15:52:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:32 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:34 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.146s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.797[m] 73.022[deg] [grasp_sample.py: 596] +05/18 15:52:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:52:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:52:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:53:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:53:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:53:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:53:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:18 INFO: [Worker 0] Feasibility-checked 82 grasps in 39.848s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:18 INFO: [Worker 0] Feasible grasp found 209 (originally 94): w/ 0.167[m] 143.199[deg] [grasp_sample.py: 596] +05/18 15:54:18 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:54:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:54:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:54:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:20 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 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.081262m [env.py: 870] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.44145155 0.03627465 -0.08126232] yaw=-123.8deg [env.py: 1019] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22414744 -0.91808731 -0.08126232] yaw=181.2deg [env.py: 1019] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.47888972 -0.21609858 -0.08126232] yaw=-126.9deg [env.py: 1019] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.2ms, total=108.2ms [env.py: 1075] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.441, 0.036, -0.081) [env.py: 1079] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.8 deg [env.py: 1082] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.102m [env.py: 1086] +05/18 15:54:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:20 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:22 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.079s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:54:22 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:54:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:54:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:54:23 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 15:54:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028883m [env.py: 870] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 130.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.17903305 -0.56154578 0.02888261] yaw=-138.1deg [env.py: 1019] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.0385867 -0.30955657 0.02888261] yaw=-149.0deg [env.py: 1019] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.23888372 -0.49371654 0.02888261] yaw=-140.3deg [env.py: 1019] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.4ms, total=104.5ms [env.py: 1075] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.179, -0.562, 0.029) [env.py: 1079] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.1 deg [env.py: 1082] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:24 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:24 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.700s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.697[m] 110.654[deg] [grasp_sample.py: 596] +05/18 15:54:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:55:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:06 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:56:21 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 15:56:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:56:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:56:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:56:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 15:56:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.41s (batch: 2.34s, save: 8.06s) [pipeline.py: 300] +05/18 15:56:32 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.97s: + episode_total: mean=79.32s, total=237.95s, count=3, min=2495.0ms, max=128669.2ms + sensor_polling: mean=312.7ms, total=145.72s, count=466, min=288.0ms, max=486.0ms + physics_step: mean=18.3ms, total=8.53s, count=466, min=13.2ms, max=23.1ms + save_trajectories: mean=8.06s, total=8.06s, count=1, min=8064.0ms, max=8064.0ms + save_batch_prep: mean=2.34s, total=2.34s, count=1, min=2343.9ms, max=2343.9ms + task_sampling: mean=322.7ms, total=968.2ms, count=3, min=292.5ms, max=371.2ms + task_specific_sample: mean=319.4ms, total=958.2ms, count=3, min=289.3ms, max=367.9ms + scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.6ms, max=2.0ms + mj_forward_sync: mean=393.1us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.3us, 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 15:56:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:56:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:56:33 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 15:56:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034799m [env.py: 870] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.32996177 -0.38820514 -0.03479899] yaw=-166.3deg [env.py: 1019] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 130.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.12910126 -0.9785808 -0.03479899] yaw=168.6deg [env.py: 1019] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.23133294 -0.22347356 -0.03479899] yaw=-116.3deg [env.py: 1019] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.7ms, total=148.8ms [env.py: 1075] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.330, -0.388, -0.035) [env.py: 1079] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg [env.py: 1082] +05/18 15:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/18 15:56:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:34 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:34 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.836s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:56:34 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.612[m] 75.626[deg] [grasp_sample.py: 596] +05/18 15:56:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:56:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:56:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:57:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:57:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:19 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:58:34 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 15:58:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:58:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:58:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:58:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 15:58:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.72s (batch: 2.44s, save: 8.27s) [pipeline.py: 300] +05/18 15:58:45 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.35s: + episode_total: mean=131.85s, total=131.85s, count=1, min=131847.9ms, max=131847.9ms + sensor_polling: mean=316.5ms, total=94.95s, count=300, min=290.9ms, max=508.0ms + save_trajectories: mean=8.27s, total=8.27s, count=1, min=8274.8ms, max=8274.8ms + physics_step: mean=19.0ms, total=5.71s, count=300, min=13.2ms, max=21.8ms + save_batch_prep: mean=2.44s, total=2.44s, count=1, min=2442.7ms, max=2442.7ms + task_sampling: mean=346.9ms, total=346.9ms, count=1, min=346.9ms, max=346.9ms + task_specific_sample: mean=343.9ms, total=343.9ms, count=1, min=343.9ms, max=343.9ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=400.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:58:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:58:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:58:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:58:46 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 15:58:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:58:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.097784m [env.py: 870] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:58:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.105611 -1.27757998 -0.09778449] yaw=163.2deg [env.py: 1019] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.16176432 0.01257445 -0.09778449] yaw=-151.4deg [env.py: 1019] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.0747889 -1.25832981 -0.09778449] yaw=170.9deg [env.py: 1019] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:58:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.0ms, total=165.0ms [env.py: 1075] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.106, -1.278, -0.098) [env.py: 1079] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.2 deg [env.py: 1082] +05/18 15:58:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.250m [env.py: 1086] +05/18 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:47 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:58:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:49 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.069s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:58:49 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:58:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:58:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:58:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:58:50 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 15:58:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:58:50 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 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015399m [env.py: 870] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:58:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16764093 -0.55815733 -0.01539874] yaw=-155.8deg [env.py: 1019] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.15657659 -0.72904344 -0.01539874] yaw=-153.3deg [env.py: 1019] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.14386893 -0.09125724 -0.01539874] yaw=-118.4deg [env.py: 1019] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:58:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.6ms, total=160.6ms [env.py: 1075] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -0.558, -0.015) [env.py: 1079] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg [env.py: 1082] +05/18 15:58:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.280m [env.py: 1086] +05/18 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:50 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:58:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:52 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.101s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:58:52 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:58:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:58:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:58:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:58:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:58:54 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 15:58:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:58:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014066m [env.py: 870] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:58:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.31802804 -0.37543158 -0.0140663 ] yaw=-167.3deg [env.py: 1019] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23221921 -1.19467539 -0.0140663 ] yaw=146.1deg [env.py: 1019] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.32360992 -0.25534681 -0.0140663 ] yaw=-163.6deg [env.py: 1019] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:58:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.8ms, total=76.8ms [env.py: 1075] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.318, -0.375, -0.014) [env.py: 1079] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.3 deg [env.py: 1082] +05/18 15:58:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/18 15:58:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:54 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:58:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:55 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.568s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:58:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 54.408[deg] [grasp_sample.py: 596] +05/18 15:58:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:58:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:58:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:59:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:42 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:00:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 16:00:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:00:57 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/18 16:01:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:01:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 16:01:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.75s (batch: 2.44s, save: 8.31s) [pipeline.py: 300] +05/18 16:01:08 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.98s: + episode_total: mean=46.45s, total=139.34s, count=3, min=2554.4ms, max=134231.5ms + sensor_polling: mean=314.9ms, total=92.89s, count=295, min=294.6ms, max=482.4ms + save_trajectories: mean=8.31s, total=8.31s, count=1, min=8312.5ms, max=8312.5ms + physics_step: mean=19.2ms, total=5.65s, count=295, min=13.2ms, max=21.4ms + save_batch_prep: mean=2.44s, total=2.44s, count=1, min=2441.1ms, max=2441.1ms + task_sampling: mean=326.8ms, total=980.5ms, count=3, min=259.3ms, max=365.2ms + task_specific_sample: mean=324.0ms, total=972.0ms, count=3, min=256.9ms, max=361.8ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.1ms, max=2.2ms + mj_forward_sync: mean=392.1us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=11.0us, 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 16:01:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:01:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:01:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:01:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:01:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:01:09 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 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012643m [env.py: 870] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:01:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.23060189 -0.36949955 -0.0126428 ] yaw=-150.9deg [env.py: 1019] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09702418 -0.88153112 -0.0126428 ] yaw=183.6deg [env.py: 1019] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.05283184 -0.77911676 -0.0126428 ] yaw=-162.2deg [env.py: 1019] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:01:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.7ms, total=92.8ms [env.py: 1075] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.231, -0.369, -0.013) [env.py: 1079] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.9 deg [env.py: 1082] +05/18 16:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/18 16:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:01:09 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:01:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/18 16:01:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:01:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:01:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:01:11 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.847s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:01:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.522[m] 95.872[deg] [grasp_sample.py: 596] +05/18 16:01:11 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 16:01:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:01:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:55 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:03:10 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 16:03:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:03:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:03:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:03:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 16:03:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.83s (batch: 2.47s, save: 8.36s) [pipeline.py: 300] +05/18 16:03:21 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.30s: + episode_total: mean=132.21s, total=132.21s, count=1, min=132207.6ms, max=132207.6ms + sensor_polling: mean=319.4ms, total=95.83s, count=300, min=298.7ms, max=523.0ms + save_trajectories: mean=8.36s, total=8.36s, count=1, min=8359.0ms, max=8359.0ms + physics_step: mean=18.8ms, total=5.64s, count=300, min=13.0ms, max=23.7ms + save_batch_prep: mean=2.47s, total=2.47s, count=1, min=2470.0ms, max=2470.0ms + task_sampling: mean=299.8ms, total=299.8ms, count=1, min=299.8ms, max=299.8ms + task_specific_sample: mean=296.3ms, total=296.3ms, count=1, min=296.3ms, max=296.3ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=398.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:03:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:03:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:03:22 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 16:03:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:22 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 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.094729m [env.py: 870] +05/18 16:03:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00409449 -0.31233866 -0.09472899] yaw=-153.2deg [env.py: 1019] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.26865344 -1.25473771 -0.09472899] yaw=177.5deg [env.py: 1019] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.04453182 -0.23232733 -0.09472899] yaw=-144.9deg [env.py: 1019] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.6ms, total=157.6ms [env.py: 1075] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.004, -0.312, -0.095) [env.py: 1079] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.2 deg [env.py: 1082] +05/18 16:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.205m [env.py: 1086] +05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:23 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:25 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.053s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:03:25 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:03:25 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 16:03:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:03:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:03:26 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 16:03:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036940m [env.py: 870] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11705841 -1.36042151 -0.0369402 ] yaw=142.6deg [env.py: 1019] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 140.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=155.3ms, total=155.3ms [env.py: 1075] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.117, -1.360, -0.037) [env.py: 1079] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.6 deg [env.py: 1082] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.290m [env.py: 1086] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:27 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:29 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.092s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:03:29 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:03:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:03:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:03:30 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 16:03:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069594m [env.py: 870] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14024449 -0.85416619 0.06959355] yaw=-176.6deg [env.py: 1019] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 135.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19529978 -0.93832217 0.06959355] yaw=181.9deg [env.py: 1019] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=162.2ms, total=162.3ms [env.py: 1075] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.140, -0.854, 0.070) [env.py: 1079] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.6 deg [env.py: 1082] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.215m [env.py: 1086] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:30 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:33 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.097s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:03:33 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:03:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:03:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:34 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:03:34 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 16:03:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.091858m [env.py: 870] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 144.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.07501299 -0.65367893 -0.09185821] yaw=-151.6deg [env.py: 1019] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.23042496 -1.25722099 -0.09185821] yaw=176.0deg [env.py: 1019] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.22181536 -0.56510537 -0.09185821] yaw=-163.4deg [env.py: 1019] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.7ms, total=90.8ms [env.py: 1075] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.075, -0.654, -0.092) [env.py: 1079] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.6 deg [env.py: 1082] +05/18 16:03:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/18 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:34 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:36 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.114s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:03:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.614[m] 77.687[deg] [grasp_sample.py: 596] +05/18 16:03:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:03:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:03:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:04:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:04:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:04:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:04:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:04:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:37 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.951s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:04:37 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.102[m] 0.860[deg] [grasp_sample.py: 596] +05/18 16:04:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:04:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:04:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:04:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:04:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:04:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:04:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:56 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.463s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:04:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.111[m] 0.376[deg] [grasp_sample.py: 596] +05/18 16:04:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:04:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:04:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:05:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:40 INFO: [Worker 0] Worker 0 house 1 episode 20 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:05:40 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=False episode_total=1.34s: + episode_total: mean=33.49s, total=133.96s, count=4, min=2533.6ms, max=126330.9ms + sensor_polling: mean=317.1ms, total=95.14s, count=300, min=293.8ms, max=494.1ms + physics_step: mean=18.4ms, total=5.52s, count=300, min=13.0ms, max=25.1ms + task_sampling: mean=334.8ms, total=1.34s, count=4, min=273.2ms, max=373.0ms + task_specific_sample: mean=331.9ms, total=1.33s, count=4, min=270.8ms, max=369.9ms + scene_randomize: mean=1.4ms, total=5.7ms, count=4, min=1.1ms, max=1.7ms + mj_forward_sync: mean=399.0us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=11.7us, total=0.0ms, 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 16:05:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:05:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:05:41 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 16:05:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016582m [env.py: 870] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.0163937 -1.42457418 0.01658195] yaw=138.8deg [env.py: 1019] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11964036 -0.65170886 0.01658195] yaw=-186.8deg [env.py: 1019] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 140.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.16477075 -1.25730204 0.01658195] yaw=138.6deg [env.py: 1019] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.2ms, total=107.3ms [env.py: 1075] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.016, -1.425, 0.017) [env.py: 1079] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 138.8 deg [env.py: 1082] +05/18 16:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.196m [env.py: 1086] +05/18 16:05:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:42 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:44 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.094s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:05:44 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:05:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:05:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:05:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:05:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:45 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 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065249m [env.py: 870] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 7.68181055e-04 -9.00784628e-01 6.52489756e-02] yaw=202.8deg [env.py: 1019] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12687248 -0.76899066 0.06524898] yaw=-202.2deg [env.py: 1019] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.08263195 -1.36301603 0.06524898] yaw=138.5deg [env.py: 1019] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.6ms, total=96.6ms [env.py: 1075] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.001, -0.901, 0.065) [env.py: 1079] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 202.8 deg [env.py: 1082] +05/18 16:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/18 16:05:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:45 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:51 INFO: [Worker 0] Feasibility-checked 86 grasps in 5.077s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:05:51 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.762[m] 92.611[deg] [grasp_sample.py: 596] +05/18 16:05:51 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:05:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:05:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:05:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:05:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.050m, effective arm-mount z=0.810m (base_body_z=-0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049859m [env.py: 870] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.14033408 -0.6470449 -0.04985869] yaw=-162.4deg [env.py: 1019] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.21176523 -0.32759716 -0.04985869] yaw=-157.2deg [env.py: 1019] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.10931998 -0.81013861 -0.04985869] yaw=-149.6deg [env.py: 1019] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.1ms, total=162.2ms [env.py: 1075] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.140, -0.647, -0.050) [env.py: 1079] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg [env.py: 1082] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:53 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:54 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.923s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:05:54 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.652[m] 109.550[deg] [grasp_sample.py: 596] +05/18 16:05:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:05:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:05:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:55 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 16:06:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:06:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:07:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:07:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:27 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.473s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:07:27 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.511[deg] [grasp_sample.py: 596] +05/18 16:07:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:07:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:07:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:07:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:07:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:07:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:55 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.438s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:07:55 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.959[deg] [grasp_sample.py: 596] +05/18 16:07:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:07:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:07:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:57 INFO: [Worker 0] Worker 0 house 1 episode 23 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:07:57 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=False episode_total=0.93s: + episode_total: mean=44.49s, total=133.46s, count=3, min=2514.8ms, max=124558.9ms + sensor_polling: mean=327.7ms, total=98.30s, count=300, min=297.6ms, max=505.4ms + physics_step: mean=18.7ms, total=5.62s, count=300, min=12.3ms, max=24.8ms + task_sampling: mean=311.3ms, total=933.9ms, count=3, min=287.3ms, max=343.7ms + task_specific_sample: mean=308.5ms, total=925.4ms, count=3, min=283.7ms, max=341.2ms + scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=1.1ms, max=1.2ms + mj_forward_sync: mean=397.6us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=10.9us, 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 16:07:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:07:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:07:59 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 16:07:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.055m, effective arm-mount z=0.805m (base_body_z=-0.055m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.054814m [env.py: 870] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.2184861 -0.95266505 -0.05481435] yaw=169.9deg [env.py: 1019] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 136.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.32509638 -0.3169047 -0.05481435] yaw=-115.4deg [env.py: 1019] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.04992525 -0.29310463 -0.05481435] yaw=-177.2deg [env.py: 1019] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.0ms, total=136.0ms [env.py: 1075] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.218, -0.953, -0.055) [env.py: 1079] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg [env.py: 1082] +05/18 16:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 16:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:59 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:00 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.582s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:08:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.571[m] 105.397[deg] [grasp_sample.py: 596] +05/18 16:08:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:08:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:08:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:08:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:08:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:45 INFO: [Worker 0] Worker 0 house 1 episode 24 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:10:02 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 16:10:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:10:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:10:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:10:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 16:10:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.72s (batch: 2.32s, save: 8.40s) [pipeline.py: 300] +05/18 16:10:13 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.33s: + episode_total: mean=134.22s, total=134.22s, count=1, min=134217.5ms, max=134217.5ms + sensor_polling: mean=322.8ms, total=96.84s, count=300, min=297.2ms, max=532.6ms + save_trajectories: mean=8.40s, total=8.40s, count=1, min=8403.0ms, max=8403.0ms + physics_step: mean=19.3ms, total=5.80s, count=300, min=13.2ms, max=25.8ms + save_batch_prep: mean=2.32s, total=2.32s, count=1, min=2318.3ms, max=2318.3ms + task_sampling: mean=331.8ms, total=331.8ms, count=1, min=331.8ms, max=331.8ms + task_specific_sample: mean=329.2ms, total=329.2ms, count=1, min=329.2ms, max=329.2ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=383.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=11.4us, 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 16:10:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:10:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:10:14 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 16:10:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:14 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 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.066547m [env.py: 870] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.26622285 -0.14136544 -0.06654674] yaw=-135.5deg [env.py: 1019] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.32428224 -0.11580782 -0.06654674] yaw=-128.4deg [env.py: 1019] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 126.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.16833159 -0.76584189 -0.06654674] yaw=-176.8deg [env.py: 1019] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.9ms, total=162.0ms [env.py: 1075] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.266, -0.141, -0.067) [env.py: 1079] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg [env.py: 1082] +05/18 16:10:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/18 16:10:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:14 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:16 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.106s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:10:16 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:10:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:10:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:10:18 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 16:10:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006098m [env.py: 870] +05/18 16:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=150.6ms, total=150.6ms [env.py: 1105] +05/18 16:10:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 16:10:18 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 16:10:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:10:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:19 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:10:19 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 16:10:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.028m, effective arm-mount z=0.832m (base_body_z=-0.028m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028150m [env.py: 870] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18281084 -0.58835349 -0.02815023] yaw=-140.3deg [env.py: 1019] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00632632 -0.89188571 -0.02815023] yaw=183.1deg [env.py: 1019] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.39651606 -0.34507164 -0.02815023] yaw=-168.3deg [env.py: 1019] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.0ms, total=131.1ms [env.py: 1075] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.183, -0.588, -0.028) [env.py: 1079] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg [env.py: 1082] +05/18 16:10:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.287m [env.py: 1086] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:19 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:21 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.011s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:10:21 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:10:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:10:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:10:23 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 16:10:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019473m [env.py: 870] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 130.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03571329 -0.95897809 0.01947255] yaw=175.4deg [env.py: 1019] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.25343987 -0.30719934 0.01947255] yaw=-166.6deg [env.py: 1019] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.32973902 -0.11587308 0.01947255] yaw=-154.0deg [env.py: 1019] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.8ms, total=144.8ms [env.py: 1075] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.036, -0.959, 0.019) [env.py: 1079] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.4 deg [env.py: 1082] +05/18 16:10:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/18 16:10:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:23 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:24 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.161s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:10:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.726[m] 109.554[deg] [grasp_sample.py: 596] +05/18 16:10:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:10:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:10:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:11:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:11:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:11:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:26 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.480s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:11:26 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.066[m] 2.262[deg] [grasp_sample.py: 596] +05/18 16:11:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:11:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:11:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:11:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:46 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 16:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:11:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:11:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:53 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.415s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:11:53 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 3.827[deg] [grasp_sample.py: 596] +05/18 16:11:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:11:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:11:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:12:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:12:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:12:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 68 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:20 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.325s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:20 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.030[m] 12.505[deg] [grasp_sample.py: 596] +05/18 16:12:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:12:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:12:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:12:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:35 INFO: [Worker 0] Worker 0 house 1 episode 28 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:12:35 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=1.00s: + episode_total: mean=34.40s, total=137.58s, count=4, min=159.0ms, max=132409.7ms + sensor_polling: mean=320.6ms, total=96.18s, count=300, min=296.7ms, max=538.7ms + physics_step: mean=17.9ms, total=5.37s, count=300, min=12.1ms, max=23.5ms + task_specific_sample: mean=286.4ms, total=1.15s, count=4, min=155.1ms, max=357.1ms + task_sampling: mean=332.8ms, total=998.4ms, count=3, min=311.3ms, max=360.3ms + task_sampling_failed: mean=158.9ms, total=158.9ms, count=1, min=158.9ms, max=158.9ms + scene_randomize: mean=1.3ms, total=5.2ms, count=4, min=1.1ms, max=1.9ms + mj_forward_sync: mean=396.0us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=11.8us, total=0.0ms, count=3, 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 16:12:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:12:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:12:36 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 16:12:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041228m [env.py: 870] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.49089461 -0.18458521 -0.04122829] yaw=-114.4deg [env.py: 1019] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.08681256 -0.87167254 -0.04122829] yaw=181.3deg [env.py: 1019] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13268556 -0.55905276 -0.04122829] yaw=-161.4deg [env.py: 1019] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.2ms, total=130.2ms [env.py: 1075] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.491, -0.185, -0.041) [env.py: 1079] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.4 deg [env.py: 1082] +05/18 16:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:37 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:37 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.597s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.605[m] 102.023[deg] [grasp_sample.py: 596] +05/18 16:12:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:12:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:12:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:38 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 16:13:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:13:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:14:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:14:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:20 INFO: [Worker 0] Feasibility-checked 84 grasps in 2.095s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:14:20 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:14:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:14:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:14:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:14:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:21 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 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011794m [env.py: 870] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.06620716 -1.43292755 0.01179401] yaw=132.5deg [env.py: 1019] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.11289718 -1.38122065 0.01179401] yaw=151.5deg [env.py: 1019] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.08186929 -0.84991903 0.01179401] yaw=-181.1deg [env.py: 1019] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.6ms, total=120.6ms [env.py: 1075] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.066, -1.433, 0.012) [env.py: 1079] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 132.5 deg [env.py: 1082] +05/18 16:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.274m [env.py: 1086] +05/18 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:22 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:24 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.048s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:14:24 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:14:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:14:25 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 16:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:25 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 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085895m [env.py: 870] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.28629311 -0.31469487 0.08589495] yaw=-158.9deg [env.py: 1019] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.30391077 -0.26287828 0.08589495] yaw=-150.9deg [env.py: 1019] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.29692885 -0.41175011 0.08589495] yaw=-133.6deg [env.py: 1019] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.6ms, total=132.7ms [env.py: 1075] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.286, -0.315, 0.086) [env.py: 1079] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg [env.py: 1082] +05/18 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:25 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:27 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.058s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:14:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.617[m] 73.172[deg] [grasp_sample.py: 596] +05/18 16:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:14:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:14:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:15:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:16:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:16:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:16:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:15 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.740s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:16:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 2.057[deg] [grasp_sample.py: 596] +05/18 16:16:16 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:16:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:16:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:16:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:16:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:16:17 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 16:16:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:16:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082097m [env.py: 870] +05/18 16:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:16:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.36881577 -0.07547134 0.08209657] yaw=-109.0deg [env.py: 1019] +05/18 16:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.07746063 -1.40786307 0.08209657] yaw=154.2deg [env.py: 1019] +05/18 16:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.13874581 -1.34795476 0.08209657] yaw=143.7deg [env.py: 1019] +05/18 16:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:16:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.4ms, total=93.5ms [env.py: 1075] +05/18 16:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.369, -0.075, 0.082) [env.py: 1079] +05/18 16:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.0 deg [env.py: 1082] +05/18 16:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/18 16:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:16:18 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 16:16:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s [base_object_manipulation_planner_policy.py: 377] +05/18 16:16:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:20 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.049s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:16:20 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:16:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:16:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:16:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:16:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:16:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:16:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:16:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040185m [env.py: 870] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:16:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03697671 -1.2947625 -0.04018504] yaw=149.2deg [env.py: 1019] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.15390141 -0.52106014 -0.04018504] yaw=-184.0deg [env.py: 1019] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.0564987 -1.28047402 -0.04018504] yaw=171.9deg [env.py: 1019] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:16:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.5ms, total=103.6ms [env.py: 1075] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.037, -1.295, -0.040) [env.py: 1079] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.2 deg [env.py: 1082] +05/18 16:16:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.191m [env.py: 1086] +05/18 16:16:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:16:21 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 16:16:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/18 16:16:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:23 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.058s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:16:23 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:16:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:16:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:16:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:16:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:16:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:16:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:16:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.089m, effective arm-mount z=0.771m (base_body_z=-0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089110m [env.py: 870] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:16:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.3719163 0.21735112 -0.08911041] yaw=-104.6deg [env.py: 1019] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.12427258 -0.40898901 -0.08911041] yaw=-135.6deg [env.py: 1019] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:16:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=163.1ms, total=163.2ms [env.py: 1075] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.372, 0.217, -0.089) [env.py: 1079] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.6 deg [env.py: 1082] +05/18 16:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.291m [env.py: 1086] +05/18 16:16:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:16:25 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 16:16:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:16:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:27 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.068s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:16:27 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:16:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:16:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:16:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:16:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:16:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:16:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:16:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050498m [env.py: 870] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:16:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.38277108 0.03895926 0.05049788] yaw=-99.6deg [env.py: 1019] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.05696944 -1.25713717 0.05049788] yaw=184.0deg [env.py: 1019] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.1108141 -1.08860804 0.05049788] yaw=186.1deg [env.py: 1019] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:16:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.1ms, total=105.2ms [env.py: 1075] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.383, 0.039, 0.050) [env.py: 1079] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.6 deg [env.py: 1082] +05/18 16:16:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.139m [env.py: 1086] +05/18 16:16:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:16:29 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 16:16:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s [base_object_manipulation_planner_policy.py: 377] +05/18 16:16:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:31 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.027s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:16:31 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:16:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:16:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:16:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:16:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:16:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:16:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:16:32 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 16:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.069337m [env.py: 870] +05/18 16:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:16:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 149.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=150.1ms, total=150.2ms [env.py: 1105] +05/18 16:16:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 16:16:32 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 16:16:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:16:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:16:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:16:33 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 16:16:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:16:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.002m, effective arm-mount z=0.858m (base_body_z=-0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.001977m [env.py: 870] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:16:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14068729 -0.8550244 -0.00197665] yaw=-207.9deg [env.py: 1019] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15565219 -0.80417573 -0.00197665] yaw=-176.8deg [env.py: 1019] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04636752 -0.30583248 -0.00197665] yaw=-163.7deg [env.py: 1019] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:16:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.2ms, total=76.2ms [env.py: 1075] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.141, -0.855, -0.002) [env.py: 1079] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -207.9 deg [env.py: 1082] +05/18 16:16:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.215m [env.py: 1086] +05/18 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:16:34 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 16:16:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s [base_object_manipulation_planner_policy.py: 377] +05/18 16:16:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:36 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.067s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:16:36 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:16:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:16:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:16:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:37 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:16:37 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 16:16:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:16:37 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 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029559m [env.py: 870] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:16:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12099084 -0.95764351 0.02955857] yaw=158.1deg [env.py: 1019] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02184434 -1.15497872 0.02955857] yaw=150.0deg [env.py: 1019] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.25762857 -0.62395191 0.02955857] yaw=-135.3deg [env.py: 1019] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:16:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms [env.py: 1075] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.121, -0.958, 0.030) [env.py: 1079] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.1 deg [env.py: 1082] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:16:37 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 16:16:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:38 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.097s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:16:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.720[m] 59.206[deg] [grasp_sample.py: 596] +05/18 16:16:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:16:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:16:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:17:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:22 INFO: [Worker 0] Worker 0 house 1 episode 38 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:18:38 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 16:18:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:18:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:18:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:18:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 16:18:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.85s (batch: 2.68s, save: 8.17s) [pipeline.py: 300] +05/18 16:18:49 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=2.67s: + episode_total: mean=36.23s, total=362.26s, count=10, min=158.1ms, max=132512.9ms + sensor_polling: mean=316.0ms, total=273.36s, count=865, min=287.9ms, max=578.1ms + physics_step: mean=19.0ms, total=16.40s, count=865, min=13.1ms, max=23.4ms + save_trajectories: mean=8.17s, total=8.17s, count=1, min=8170.8ms, max=8170.8ms + task_specific_sample: mean=280.0ms, total=2.80s, count=10, min=154.6ms, max=342.1ms + save_batch_prep: mean=2.68s, total=2.68s, count=1, min=2682.9ms, max=2682.9ms + task_sampling: mean=296.6ms, total=2.67s, count=9, min=253.6ms, max=344.4ms + task_sampling_failed: mean=158.1ms, total=158.1ms, count=1, min=158.1ms, max=158.1ms + scene_randomize: mean=1.1ms, total=11.1ms, count=10, min=1.1ms, max=1.1ms + mj_forward_sync: mean=388.3us, total=3.9ms, count=10, min=0.4ms, max=0.4ms + policy_setup: mean=10.4us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:18:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:18:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:18:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:18:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:18:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:18:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.052m, effective arm-mount z=0.808m (base_body_z=-0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051836m [env.py: 870] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:18:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.17108078 -0.68969851 -0.05183618] yaw=-171.5deg [env.py: 1019] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00648701 -1.24181712 -0.05183618] yaw=186.5deg [env.py: 1019] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:18:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=169.2ms, total=169.3ms [env.py: 1075] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.171, -0.690, -0.052) [env.py: 1079] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.5 deg [env.py: 1082] +05/18 16:18:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/18 16:18:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:18:51 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 16:18:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/18 16:18:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:18:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:18:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:18:52 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.682s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:18:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.488[m] 49.950[deg] [grasp_sample.py: 596] +05/18 16:18:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:18:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:18:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:19:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:36 INFO: [Worker 0] Worker 0 house 1 episode 39 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:20:52 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 16:20:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:20:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:21:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:21:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 16:21:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.90s (batch: 2.55s, save: 8.35s) [pipeline.py: 300] +05/18 16:21:04 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.38s: + episode_total: mean=133.00s, total=133.00s, count=1, min=133005.0ms, max=133005.0ms + sensor_polling: mean=320.2ms, total=96.05s, count=300, min=298.4ms, max=574.2ms + save_trajectories: mean=8.35s, total=8.35s, count=1, min=8351.0ms, max=8351.0ms + physics_step: mean=19.1ms, total=5.72s, count=300, min=13.4ms, max=24.2ms + save_batch_prep: mean=2.55s, total=2.55s, count=1, min=2546.6ms, max=2546.6ms + task_sampling: mean=380.7ms, total=380.7ms, count=1, min=380.7ms, max=380.7ms + task_specific_sample: mean=377.6ms, total=377.6ms, count=1, min=377.6ms, max=377.6ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=409.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:21:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:21:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:21:05 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 16:21:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020895m [env.py: 870] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.02985561 -0.79903561 0.02089497] yaw=-169.1deg [env.py: 1019] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.09009733 -0.394831 0.02089497] yaw=-154.2deg [env.py: 1019] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=160.4ms, total=160.5ms [env.py: 1075] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.030, -0.799, 0.021) [env.py: 1079] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.1 deg [env.py: 1082] +05/18 16:21:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.106m [env.py: 1086] +05/18 16:21:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:05 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:07 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.147s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:21:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.686[m] 58.058[deg] [grasp_sample.py: 596] +05/18 16:21:08 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:21:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:21:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:21:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064195m [env.py: 870] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.42135699 -0.04062774 0.06419499] yaw=-132.0deg [env.py: 1019] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.10409519 -0.3642825 0.06419499] yaw=-171.6deg [env.py: 1019] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 132.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20104933 -0.00407691 0.06419499] yaw=-130.3deg [env.py: 1019] +05/18 16:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.8ms, total=109.8ms [env.py: 1075] +05/18 16:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.421, -0.041, 0.064) [env.py: 1079] +05/18 16:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.0 deg [env.py: 1082] +05/18 16:21:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/18 16:21:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:10 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:12 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.727s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:21:12 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:21:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:21:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:21:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.052m, effective arm-mount z=0.808m (base_body_z=-0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.051507m [env.py: 870] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.04667108 -0.80404713 -0.05150669] yaw=-201.1deg [env.py: 1019] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.20665306 -1.16809856 -0.05150669] yaw=169.4deg [env.py: 1019] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.24177443 -0.50053381 -0.05150669] yaw=-131.5deg [env.py: 1019] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.8ms, total=148.8ms [env.py: 1075] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.047, -0.804, -0.052) [env.py: 1079] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -201.1 deg [env.py: 1082] +05/18 16:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/18 16:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:13 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:14 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.721s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:21:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.757[m] 99.334[deg] [grasp_sample.py: 596] +05/18 16:21:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:21:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:21:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:15 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 16:22:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:22:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:01 INFO: [Worker 0] Worker 0 house 1 episode 42 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:23:18 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 16:23:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:23:18 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:23:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:23:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 16:23:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.90s (batch: 2.59s, save: 8.31s) [pipeline.py: 300] +05/18 16:23:29 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=1.00s: + episode_total: mean=47.26s, total=141.78s, count=3, min=2132.1ms, max=136097.3ms + sensor_polling: mean=316.6ms, total=94.97s, count=300, min=292.4ms, max=552.5ms + save_trajectories: mean=8.31s, total=8.31s, count=1, min=8309.9ms, max=8309.9ms + physics_step: mean=18.9ms, total=5.68s, count=300, min=13.6ms, max=22.0ms + save_batch_prep: mean=2.59s, total=2.59s, count=1, min=2588.9ms, max=2588.9ms + task_sampling: mean=331.7ms, total=995.2ms, count=3, min=298.0ms, max=364.7ms + task_specific_sample: mean=328.7ms, total=986.1ms, count=3, min=295.2ms, max=360.7ms + scene_randomize: mean=1.6ms, total=4.9ms, count=3, min=1.1ms, max=2.7ms + mj_forward_sync: mean=403.2us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=12.2us, 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 16:23:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:23:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:23:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:23:30 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 16:23:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:23:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006799m [env.py: 870] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:23:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.16355439 -0.89529038 0.00679943] yaw=151.8deg [env.py: 1019] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.14082774 -0.89510324 0.00679943] yaw=163.1deg [env.py: 1019] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.40975214 -0.02565148 0.00679943] yaw=-153.3deg [env.py: 1019] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:23:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.6ms, total=136.7ms [env.py: 1075] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.164, -0.895, 0.007) [env.py: 1079] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.8 deg [env.py: 1082] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:23:30 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 16:23:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/18 16:23:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:36 INFO: [Worker 0] Feasibility-checked 86 grasps in 5.596s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:23:36 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.649[m] 108.271[deg] [grasp_sample.py: 596] +05/18 16:23:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:23:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:23:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:24:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:24:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:25 INFO: [Worker 0] Worker 0 house 1 episode 43 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:25:41 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [pipeline.py: 1174] +05/18 16:25:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:25:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:25:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:25:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_006 [save_utils.py: 785] +05/18 16:25:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.03s (batch: 2.55s, save: 8.47s) [pipeline.py: 300] +05/18 16:25:53 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.34s: + episode_total: mean=142.90s, total=142.90s, count=1, min=142895.1ms, max=142895.1ms + sensor_polling: mean=324.7ms, total=97.42s, count=300, min=295.6ms, max=570.0ms + save_trajectories: mean=8.47s, total=8.47s, count=1, min=8472.2ms, max=8472.2ms + physics_step: mean=19.0ms, total=5.70s, count=300, min=13.3ms, max=25.0ms + save_batch_prep: mean=2.55s, total=2.55s, count=1, min=2553.2ms, max=2553.2ms + task_sampling: mean=342.6ms, total=342.6ms, count=1, min=342.6ms, max=342.6ms + task_specific_sample: mean=339.5ms, total=339.5ms, count=1, min=339.5ms, max=339.5ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=393.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:25:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:25:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:25:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:25:54 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 16:25:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:25:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.099560m [env.py: 870] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:25:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12812685 -0.4784249 -0.09955983] yaw=-155.0deg [env.py: 1019] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 159.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.24664953 -1.19791226 -0.09955983] yaw=137.6deg [env.py: 1019] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.0034951 -0.50622703 -0.09955983] yaw=-166.2deg [env.py: 1019] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:25:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.9ms, total=159.9ms [env.py: 1075] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.128, -0.478, -0.100) [env.py: 1079] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.0 deg [env.py: 1082] +05/18 16:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.263m [env.py: 1086] +05/18 16:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:25:54 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 16:25:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/18 16:25:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:25:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:25:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:25:57 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.023s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:25:57 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:25:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:25:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:25:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:25:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:58 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:25:58 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 16:25:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:25:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057827m [env.py: 870] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:25:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00391336 -0.36731419 0.05782727] yaw=-167.1deg [env.py: 1019] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 132.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.56617122 -0.11408521 0.05782727] yaw=-132.2deg [env.py: 1019] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.28285523 0.1043008 0.05782727] yaw=-105.1deg [env.py: 1019] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:25:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.6ms, total=161.6ms [env.py: 1075] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.004, -0.367, 0.058) [env.py: 1079] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.1 deg [env.py: 1082] +05/18 16:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.181m [env.py: 1086] +05/18 16:25:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:25:58 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 16:25:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/18 16:25:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:25:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:25:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:00 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.090s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:26:00 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:26:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:26:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:26:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:26:02 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 16:26:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:26:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073834m [env.py: 870] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:26:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06992523 -0.24559874 0.07383355] yaw=-144.9deg [env.py: 1019] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.12692935 -0.43344592 0.07383355] yaw=-151.6deg [env.py: 1019] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.15342116 -0.7529274 0.07383355] yaw=-150.2deg [env.py: 1019] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:26:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.4ms, total=130.4ms [env.py: 1075] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.070, -0.246, 0.074) [env.py: 1079] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.9 deg [env.py: 1082] +05/18 16:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.181m [env.py: 1086] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:26:02 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 16:26:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/18 16:26:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:04 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.061s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:26:04 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:26:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:26:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:26:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:26:05 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 16:26:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:26:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037915m [env.py: 870] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:26:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.27440593 -0.11073156 0.03791498] yaw=-148.6deg [env.py: 1019] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.46854367 -0.18125472 0.03791498] yaw=-152.5deg [env.py: 1019] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:26:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=158.2ms, total=158.2ms [env.py: 1075] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.274, -0.111, 0.038) [env.py: 1079] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.6 deg [env.py: 1082] +05/18 16:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m [env.py: 1086] +05/18 16:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:26:06 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 16:26:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:26:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:08 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.079s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:26:08 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:26:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:26:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:26:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:26:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:26:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:26:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:26:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004225m [env.py: 870] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:26:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06111913 -1.0837483 0.00422452] yaw=187.1deg [env.py: 1019] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16578077 -0.98161727 0.00422452] yaw=177.5deg [env.py: 1019] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20757118 -0.79505979 0.00422452] yaw=-190.0deg [env.py: 1019] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:26:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.9ms, total=105.0ms [env.py: 1075] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.061, -1.084, 0.004) [env.py: 1079] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 187.1 deg [env.py: 1082] +05/18 16:26:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.156m [env.py: 1086] +05/18 16:26:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:26:09 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 16:26:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:26:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:11 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.949s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:26:11 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:26:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:26:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:26:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:26:12 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 16:26:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:26:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.001m, effective arm-mount z=0.859m (base_body_z=-0.001m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000841m [env.py: 870] +05/18 16:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:26:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-2.31609103e-01 -1.04227194e+00 -8.40662009e-04] yaw=162.3deg [env.py: 1019] +05/18 16:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03118782 -0.49949408 -0.00084066] yaw=-151.5deg [env.py: 1019] +05/18 16:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.41508762 -0.20318294 -0.00084066] yaw=-136.1deg [env.py: 1019] +05/18 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:26:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms [env.py: 1075] +05/18 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.232, -1.042, -0.001) [env.py: 1079] +05/18 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.3 deg [env.py: 1082] +05/18 16:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/18 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:26:13 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 16:26:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 16:26:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:13 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.547s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:26:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.498[m] 80.951[deg] [grasp_sample.py: 596] +05/18 16:26:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:26:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:26:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:26:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:26:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:27:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:27:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:47 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.541s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:47 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.345[deg] [grasp_sample.py: 596] +05/18 16:27:48 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:27:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:27:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:27:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:27:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015744m [env.py: 870] +05/18 16:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.19137079 -0.79169679 0.01574408] yaw=-187.9deg [env.py: 1019] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.4614657 -0.20232214 0.01574408] yaw=-160.4deg [env.py: 1019] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.145971 -0.44743435 0.01574408] yaw=-170.2deg [env.py: 1019] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.5ms, total=131.5ms [env.py: 1075] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.191, -0.792, 0.016) [env.py: 1079] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -187.9 deg [env.py: 1082] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:50 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:50 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.572s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.496[m] 121.163[deg] [grasp_sample.py: 596] +05/18 16:27:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:27:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:27:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:51 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 16:28:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:28:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:28:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:39 INFO: [Worker 0] Feasibility-checked 86 grasps in 5.912s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:39 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.129[m] 17.014[deg] [grasp_sample.py: 596] +05/18 16:28:40 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:28:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:28:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:28:41 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 16:28:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:41 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 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044888m [env.py: 870] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12904569 -0.46256777 0.04488775] yaw=-171.4deg [env.py: 1019] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=428.4ms, total=428.4ms [env.py: 1075] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.129, -0.463, 0.045) [env.py: 1079] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.4 deg [env.py: 1082] +05/18 16:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.269m [env.py: 1086] +05/18 16:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:42 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:44 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.098s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:44 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:28:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:28:45 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 16:28:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002363m [env.py: 870] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.51438601 -0.0708792 0.00236281] yaw=-132.1deg [env.py: 1019] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.18593234 -1.11807634 0.00236281] yaw=141.3deg [env.py: 1019] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07206099 -0.53064713 0.00236281] yaw=-179.6deg [env.py: 1019] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.6ms, total=79.6ms [env.py: 1075] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.514, -0.071, 0.002) [env.py: 1079] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.1 deg [env.py: 1082] +05/18 16:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/18 16:28:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:45 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:48 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.138s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.604[m] 89.699[deg] [grasp_sample.py: 596] +05/18 16:28:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:29:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:30:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:07 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.103s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:07 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.694[deg] [grasp_sample.py: 596] +05/18 16:30:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:30:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:24 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.109s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.072[m] 0.092[deg] [grasp_sample.py: 596] +05/18 16:30:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:30:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:51 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.087s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:51 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.148[deg] [grasp_sample.py: 596] +05/18 16:30:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:58 INFO: [Worker 0] Worker 0 house 1 episode 52 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:30:58 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=False episode_total=3.15s: + episode_total: mean=32.74s, total=294.70s, count=9, min=2335.7ms, max=133380.1ms + sensor_polling: mean=318.7ms, total=203.95s, count=640, min=290.0ms, max=544.0ms + physics_step: mean=18.6ms, total=11.90s, count=640, min=13.1ms, max=26.8ms + task_sampling: mean=350.1ms, total=3.15s, count=9, min=274.8ms, max=627.8ms + task_specific_sample: mean=347.3ms, total=3.13s, count=9, min=271.4ms, max=624.2ms + scene_randomize: mean=1.4ms, total=12.9ms, count=9, min=1.1ms, max=2.5ms + mj_forward_sync: mean=396.5us, total=3.6ms, count=9, min=0.4ms, max=0.4ms + policy_setup: mean=11.1us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:31:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:31:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:31:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031957m [env.py: 870] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.22517195 -1.16704996 0.03195667] yaw=188.5deg [env.py: 1019] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=157.5ms, total=157.6ms [env.py: 1075] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.225, -1.167, 0.032) [env.py: 1079] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.5 deg [env.py: 1082] +05/18 16:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/18 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:00 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:01 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.673s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.614[m] 60.071[deg] [grasp_sample.py: 596] +05/18 16:31:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:31:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:31:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:02 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 16:31:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:31:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:32:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:32:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:41 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.531s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:32:41 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.105[m] 0.249[deg] [grasp_sample.py: 596] +05/18 16:32:42 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:32:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:32:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:32:43 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 16:32:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066750m [env.py: 870] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.26599435 -0.27550702 0.06675035] yaw=-145.1deg [env.py: 1019] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.19466726 -1.34113886 0.06675035] yaw=139.0deg [env.py: 1019] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.53228365 -0.03977099 0.06675035] yaw=-148.2deg [env.py: 1019] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.6ms [env.py: 1075] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.266, -0.276, 0.067) [env.py: 1079] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.1 deg [env.py: 1082] +05/18 16:32:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:44 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:47 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.167s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:32:47 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.644[m] 58.125[deg] [grasp_sample.py: 596] +05/18 16:32:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:32:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:32:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:48 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 16:33:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:33:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m_2house/sim/house_1/chunk_006/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_1/chunk_006/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0a0e4c3962deb5facd672b2fa90aaf0052a17a21 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_006/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc2b19779cc296f6d7c22e5dc6a1db7bc70d1de30e68ba5c894b38a205c51e77 +size 949355014