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b/fridge_m_2house/sim/house_2/chunk_060/experiment_config_20260518_154452.pkl differ diff --git a/fridge_m_2house/sim/house_2/chunk_060/experiment_config_20260518_154453.pkl b/fridge_m_2house/sim/house_2/chunk_060/experiment_config_20260518_154453.pkl new file mode 100644 index 0000000000000000000000000000000000000000..6660224fa698cdacc10afc5992995a037f12d805 Binary files /dev/null and b/fridge_m_2house/sim/house_2/chunk_060/experiment_config_20260518_154453.pkl differ diff --git a/fridge_m_2house/sim/house_2/chunk_060/running_log.log b/fridge_m_2house/sim/house_2/chunk_060/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..095a360b4d22ff734acee89bd54c7837518b92fc --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_060/running_log.log @@ -0,0 +1,2104 @@ +05/18 15:44:53 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 15:44:53 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 15:44:53 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:44:53 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_060'), + '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': 40060, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.1, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.85, 1.3), + 'base_pose_sampling_theta_range_rad': (-0.5, 1.0), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [2], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 15:44:53 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 15:44:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:44:53 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1) [pipeline.py: 464] +05/18 15:44:54 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:45:03 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan2_physics.xml [task_sampler.py: 797] +05/18 15:45:03 INFO: [Worker 0] Setting up scene for house 2, task None... [pick_task_sampler.py: 197] +05/18 15:45:03 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:45:03 INFO: [Worker 0] Resolving Fridge_7_upside_down_root grasp uid Fridge_m_2 -> Fridge_m via name_map [pick_task_sampler.py: 917] +05/18 15:45:03 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:45:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:45:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:45:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:03 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:45:03 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 15:45:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:45:03 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 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.069856m [env.py: 870] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:45:03 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 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.05922808 -1.05993081 -0.06985586] yaw=198.2deg [env.py: 1019] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:45:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=60.4ms, retries=198.1ms, total=258.5ms [env.py: 1075] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.059, -1.060, -0.070) [env.py: 1079] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 198.2 deg [env.py: 1082] +05/18 15:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/18 15:45:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:45:03 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:45:40 INFO: [Worker 0] Warmed up parallel IK solver in 36.678s [base_object_manipulation_planner_policy.py: 377] +05/18 15:45:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:45:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:45:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.742s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:45:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.566[m] 90.306[deg] [grasp_sample.py: 596] +05/18 15:45:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:45:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:45:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:44 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 15:46:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:46:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:03 INFO: [Worker 0] Worker 0 house 2 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:48:24 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [pipeline.py: 1174] +05/18 15:48:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_060 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:48:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:48:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:48:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [save_utils.py: 785] +05/18 15:48:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_060 in 14.00s (batch: 3.23s, save: 10.77s) [pipeline.py: 300] +05/18 15:48:38 INFO: [Worker 0] [PROFILE] Episode 0 house 2 success=True episode_total=10.80s: + episode_total: mean=225.95s, total=225.95s, count=1, min=225953.6ms, max=225953.6ms + sensor_polling: mean=417.5ms, total=125.26s, count=300, min=396.3ms, max=542.8ms + task_sampling: mean=10.80s, total=10.80s, count=1, min=10801.9ms, max=10801.9ms + save_trajectories: mean=10.77s, total=10.77s, count=1, min=10769.6ms, max=10769.6ms + scene_load: mean=10.24s, total=10.24s, count=1, min=10243.6ms, max=10243.6ms + physics_step: mean=24.6ms, total=7.39s, count=300, min=18.3ms, max=30.3ms + scene_env_create: mean=6.93s, total=6.93s, count=1, min=6934.1ms, max=6934.1ms + save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3225.3ms, max=3225.3ms + scene_compile: mean=3.04s, total=3.04s, count=1, min=3045.0ms, max=3045.0ms + compile_xml_load: mean=1.52s, total=1.52s, count=1, min=1515.9ms, max=1515.9ms + compile_mujoco: mean=1.34s, total=1.34s, count=1, min=1342.3ms, max=1342.3ms + task_specific_sample: mean=552.6ms, total=552.6ms, count=1, min=552.6ms, max=552.6ms + scene_asset_install: mean=132.5ms, total=132.5ms, count=1, min=132.5ms, max=132.5ms + scene_init: mean=131.8ms, total=131.8ms, count=1, min=131.8ms, max=131.8ms + asset_install_grasps: mean=100.4ms, total=100.4ms, count=1, min=100.4ms, max=100.4ms + compile_robot_add: mean=90.2ms, total=90.2ms, count=1, min=90.2ms, max=90.2ms + compile_aux_objects: mean=86.7ms, total=86.7ms, count=1, min=86.7ms, max=86.7ms + compile_aux_policy_objects: mean=86.7ms, total=86.7ms, count=1, min=86.7ms, max=86.7ms + asset_install_objects: mean=22.1ms, total=22.1ms, count=1, min=22.1ms, max=22.1ms + asset_install_scene: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=475.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:48:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:48:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:48:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:40 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:48:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:48:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:48:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096255m [env.py: 870] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:48:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 137.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 145.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.22323015 -0.67165753 -0.09625502] yaw=-163.6deg [env.py: 1019] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.14707218 -1.03080591 -0.09625502] yaw=189.1deg [env.py: 1019] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.22273705 -0.90246289 -0.09625502] yaw=-159.6deg [env.py: 1019] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:48:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=169.3ms, total=169.3ms [env.py: 1075] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.223, -0.672, -0.096) [env.py: 1079] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.6 deg [env.py: 1082] +05/18 15:48:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:48:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:48:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:48:40 INFO: [Worker 0] Worker 0 house 2 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.807s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:48:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.531[m] 89.925[deg] [grasp_sample.py: 596] +05/18 15:48:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:48:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:48:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:49:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:49:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:59 INFO: [Worker 0] Worker 0 house 2 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:51:21 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [pipeline.py: 1174] +05/18 15:51:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_060 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:51:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:51:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:51:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [save_utils.py: 785] +05/18 15:51:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_060 in 14.22s (batch: 3.01s, save: 11.21s) [pipeline.py: 300] +05/18 15:51:36 INFO: [Worker 0] [PROFILE] Episode 1 house 2 success=True episode_total=0.45s: + episode_total: mean=175.57s, total=175.57s, count=1, min=175574.5ms, max=175574.5ms + sensor_polling: mean=421.5ms, total=126.46s, count=300, min=402.4ms, max=574.1ms + save_trajectories: mean=11.21s, total=11.21s, count=1, min=11210.7ms, max=11210.7ms + physics_step: mean=24.9ms, total=7.48s, count=300, min=17.9ms, max=30.6ms + save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3005.2ms, max=3005.2ms + task_sampling: mean=448.9ms, total=448.9ms, count=1, min=448.9ms, max=448.9ms + task_specific_sample: mean=444.8ms, total=444.8ms, count=1, min=444.8ms, max=444.8ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=481.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:51:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:51:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:51:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:37 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:51:37 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 15:51:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:51:37 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 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014879m [env.py: 870] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:51:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 151.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 134.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=271.3ms, total=271.3ms [env.py: 1105] +05/18 15:51:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 15:51:37 ERROR: [Worker 0] Worker 0 house 2 episode 2 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 15:51:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:51:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:51:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:51:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:39 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:51:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:51:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:51:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088156m [env.py: 870] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:51:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08925659 -0.44897656 -0.08815606] yaw=-142.1deg [env.py: 1019] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.27904399 -0.25923468 -0.08815606] yaw=-121.9deg [env.py: 1019] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.16481578 -0.36884824 -0.08815606] yaw=-150.1deg [env.py: 1019] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:51:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=103.9ms, total=104.0ms [env.py: 1075] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.089, -0.449, -0.088) [env.py: 1079] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.1 deg [env.py: 1082] +05/18 15:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.254m [env.py: 1086] +05/18 15:51:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:51:39 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:51:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 15:51:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:51:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:51:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:51:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.777s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:51:42 ERROR: [Worker 0] Worker 0 house 2 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:51:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:51:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:51:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:51:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:43 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:51:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:51:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:51:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013176m [env.py: 870] +05/18 15:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:51:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 138.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=205.5ms, total=205.5ms [env.py: 1105] +05/18 15:51:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 15:51:44 ERROR: [Worker 0] Worker 0 house 2 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 15:51:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:51:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:51:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:45 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:51:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:51:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:51:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.033m, effective arm-mount z=0.827m (base_body_z=-0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.032707m [env.py: 870] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:51:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.34799198 -0.30440684 -0.03270663] yaw=-151.6deg [env.py: 1019] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.01619895 -1.44215794 -0.03270663] yaw=148.8deg [env.py: 1019] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 155.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.16696262 -0.76916919 -0.03270663] yaw=-164.9deg [env.py: 1019] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:51:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.4ms, total=128.4ms [env.py: 1075] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.348, -0.304, -0.033) [env.py: 1079] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.6 deg [env.py: 1082] +05/18 15:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/18 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:51:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:51:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:51:45 INFO: [Worker 0] Worker 0 house 2 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:51:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/18 15:51:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:51:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:51:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:51:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.898s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:51:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.550[m] 89.781[deg] [grasp_sample.py: 596] +05/18 15:51:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:51:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:51:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:52:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:52:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:54:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:54:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:54:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.897s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:54:19 ERROR: [Worker 0] Worker 0 house 2 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:54:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [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_2, 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=-0.062m, effective arm-mount z=0.798m (base_body_z=-0.062m, 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, -0.916, 1.306) [env.py: 845] +05/18 15:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.061862m [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 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.33040322 -0.41311881 -0.06186207] yaw=-166.2deg [env.py: 1019] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 130.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.31555748 -0.09508655 -0.06186207] yaw=-107.3deg [env.py: 1019] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19244263 -1.05595963 -0.06186207] yaw=163.9deg [env.py: 1019] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.1ms, total=126.2ms [env.py: 1075] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.330, -0.413, -0.062) [env.py: 1079] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.2 deg [env.py: 1082] +05/18 15:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/18 15:54:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:21 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.611s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.425[m] 73.924[deg] [grasp_sample.py: 596] +05/18 15:54:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:55:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:55:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:56:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:56:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:49 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.845s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:56:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.345[deg] [grasp_sample.py: 596] +05/18 15:56:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:56:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:56:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:57 INFO: [Worker 0] Worker 0 house 2 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:57:19 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [pipeline.py: 1174] +05/18 15:57:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_060 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:57:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:57:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:57:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [save_utils.py: 785] +05/18 15:57:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_060 in 15.09s (batch: 3.63s, save: 11.46s) [pipeline.py: 300] +05/18 15:57:35 INFO: [Worker 0] [PROFILE] Episode 6 house 2 success=True episode_total=1.17s: + episode_total: mean=70.44s, total=352.21s, count=5, min=214.7ms, max=194327.7ms + sensor_polling: mean=452.3ms, total=258.26s, count=571, min=399.1ms, max=637.8ms + physics_step: mean=28.5ms, total=16.28s, count=571, min=17.0ms, max=37.7ms + save_trajectories: mean=11.46s, total=11.46s, count=1, min=11461.4ms, max=11461.4ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3626.5ms, max=3626.5ms + task_specific_sample: mean=330.0ms, total=1.65s, count=5, min=211.3ms, max=402.3ms + task_sampling: mean=389.5ms, total=1.17s, count=3, min=378.6ms, max=405.1ms + task_sampling_failed: mean=251.3ms, total=502.7ms, count=2, min=214.6ms, max=288.0ms + scene_randomize: mean=1.4ms, total=6.8ms, count=5, min=1.1ms, max=2.0ms + mj_forward_sync: mean=489.9us, total=2.4ms, count=5, min=0.5ms, max=0.5ms + policy_setup: mean=18.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:57:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:36 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:36 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 15:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082447m [env.py: 870] +05/18 15:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 134.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.2ms, total=194.2ms [env.py: 1105] +05/18 15:57:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 15:57:37 ERROR: [Worker 0] Worker 0 house 2 episode 7 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 15:57:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:38 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012375m [env.py: 870] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.24226093 -0.46545085 -0.01237494] yaw=-173.3deg [env.py: 1019] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.03280265 -0.36538251 -0.01237494] yaw=-145.3deg [env.py: 1019] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.0ms, total=190.0ms [env.py: 1075] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.242, -0.465, -0.012) [env.py: 1079] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg [env.py: 1082] +05/18 15:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:39 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.143s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:57:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.569[m] 69.003[deg] [grasp_sample.py: 596] +05/18 15:57:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:57:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:57:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:58:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:01 INFO: [Worker 0] Worker 0 house 2 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:00:24 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [pipeline.py: 1174] +05/18 16:00:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_060 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:00:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:00:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:00:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [save_utils.py: 785] +05/18 16:00:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_060 in 14.78s (batch: 3.23s, save: 11.55s) [pipeline.py: 300] +05/18 16:00:40 INFO: [Worker 0] [PROFILE] Episode 8 house 2 success=True episode_total=0.48s: + episode_total: mean=90.73s, total=181.47s, count=2, min=210.1ms, max=181255.8ms + sensor_polling: mean=431.0ms, total=129.31s, count=300, min=394.7ms, max=655.7ms + save_trajectories: mean=11.55s, total=11.55s, count=1, min=11551.3ms, max=11551.3ms + physics_step: mean=27.7ms, total=8.31s, count=300, min=17.8ms, max=40.3ms + save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3228.4ms, max=3228.4ms + task_specific_sample: mean=337.4ms, total=674.8ms, count=2, min=201.2ms, max=473.6ms + task_sampling: mean=476.9ms, total=476.9ms, count=1, min=476.9ms, max=476.9ms + task_sampling_failed: mean=210.1ms, total=210.1ms, count=1, min=210.1ms, max=210.1ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms + mj_forward_sync: mean=556.8us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:00:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:00:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:00:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:00:41 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 16:00:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:00:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.061m, effective arm-mount z=0.799m (base_body_z=-0.061m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.060522m [env.py: 870] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:00:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23860762 -0.58153757 -0.06052151] yaw=-135.9deg [env.py: 1019] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.26627568 -0.40561667 -0.06052151] yaw=-151.7deg [env.py: 1019] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 137.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:00:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=257.6ms, total=257.7ms [env.py: 1075] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.239, -0.582, -0.061) [env.py: 1079] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg [env.py: 1082] +05/18 16:00:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/18 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:00:41 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 16:00:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 16:00:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.871s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:00:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.479[m] 99.699[deg] [grasp_sample.py: 596] +05/18 16:00:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:00:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:00:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:43 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 16:01:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:01:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:07 INFO: [Worker 0] Worker 0 house 2 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:03:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [pipeline.py: 1174] +05/18 16:03:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_060 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:03:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:03:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:03:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [save_utils.py: 785] +05/18 16:03:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_060 in 14.48s (batch: 3.39s, save: 11.09s) [pipeline.py: 300] +05/18 16:03:45 INFO: [Worker 0] [PROFILE] Episode 9 house 2 success=True episode_total=0.54s: + episode_total: mean=183.92s, total=183.92s, count=1, min=183923.7ms, max=183923.7ms + sensor_polling: mean=443.4ms, total=133.02s, count=300, min=403.2ms, max=641.0ms + save_trajectories: mean=11.09s, total=11.09s, count=1, min=11085.7ms, max=11085.7ms + physics_step: mean=27.4ms, total=8.23s, count=300, min=23.1ms, max=35.1ms + save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3394.7ms, max=3394.7ms + task_sampling: mean=544.7ms, total=544.7ms, count=1, min=544.7ms, max=544.7ms + task_specific_sample: mean=540.7ms, total=540.7ms, count=1, min=540.7ms, max=540.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=479.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=21.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:03:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:03:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:03:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:03:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.016m, effective arm-mount z=0.844m (base_body_z=-0.016m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015572m [env.py: 870] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.13409547 -0.82771707 -0.01557204] yaw=-176.8deg [env.py: 1019] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.00356547 -1.49475868 -0.01557204] yaw=171.0deg [env.py: 1019] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08907038 -1.30616254 -0.01557204] yaw=130.9deg [env.py: 1019] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.5ms, total=181.5ms [env.py: 1075] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.134, -0.828, -0.016) [env.py: 1079] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.8 deg [env.py: 1082] +05/18 16:03:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.212m [env.py: 1086] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:47 INFO: [Worker 0] Worker 0 house 2 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.167s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:03:50 ERROR: [Worker 0] Worker 0 house 2 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:03:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:03:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:51 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:03:51 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 16:03:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091255m [env.py: 870] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.072607 -0.33432542 0.09125479] yaw=-132.5deg [env.py: 1019] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18530721 -0.87961006 0.09125479] yaw=-174.9deg [env.py: 1019] +05/18 16:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.03407388 -0.44643 0.09125479] yaw=-136.1deg [env.py: 1019] +05/18 16:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=139.9ms, total=140.0ms [env.py: 1075] +05/18 16:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.073, -0.334, 0.091) [env.py: 1079] +05/18 16:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.5 deg [env.py: 1082] +05/18 16:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.286m [env.py: 1086] +05/18 16:03:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:52 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.267s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:03:55 ERROR: [Worker 0] Worker 0 house 2 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:03:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:03:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:03:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:03:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026468m [env.py: 870] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.29298603 -0.32591587 -0.02646818] yaw=-126.6deg [env.py: 1019] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.39348181 -0.39508521 -0.02646818] yaw=-127.4deg [env.py: 1019] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.04012156 -0.45366351 -0.02646818] yaw=-175.6deg [env.py: 1019] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.9ms, total=144.0ms [env.py: 1075] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.293, -0.326, -0.026) [env.py: 1079] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.6 deg [env.py: 1082] +05/18 16:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/18 16:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:57 INFO: [Worker 0] Worker 0 house 2 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.452s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:04:02 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.747[m] 115.012[deg] [grasp_sample.py: 596] +05/18 16:04:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:04:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:04:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:02 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 16:05:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:05:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:33 INFO: [Worker 0] Worker 0 house 2 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:06:56 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [pipeline.py: 1174] +05/18 16:06:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_060 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:06:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:07:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:07:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [save_utils.py: 785] +05/18 16:07:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_060 in 14.99s (batch: 3.62s, save: 11.37s) [pipeline.py: 300] +05/18 16:07:12 INFO: [Worker 0] [PROFILE] Episode 12 house 2 success=True episode_total=1.31s: + episode_total: mean=67.59s, total=202.77s, count=3, min=3846.4ms, max=195042.1ms + sensor_polling: mean=463.7ms, total=139.11s, count=300, min=394.4ms, max=653.3ms + save_trajectories: mean=11.37s, total=11.37s, count=1, min=11374.7ms, max=11374.7ms + physics_step: mean=29.8ms, total=8.93s, count=300, min=18.0ms, max=34.6ms + save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3615.8ms, max=3615.8ms + task_sampling: mean=436.5ms, total=1.31s, count=3, min=398.8ms, max=501.7ms + task_specific_sample: mean=433.2ms, total=1.30s, count=3, min=396.3ms, max=497.3ms + scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.1ms, max=3.0ms + mj_forward_sync: mean=486.2us, total=1.5ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=23.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:07:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:13 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:13 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 16:07:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021806m [env.py: 870] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.16032014 -1.0020964 0.02180597] yaw=173.3deg [env.py: 1019] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.07892262 -0.20906689 0.02180597] yaw=-128.2deg [env.py: 1019] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.23040234 -0.65595617 0.02180597] yaw=-151.0deg [env.py: 1019] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.4ms, total=205.5ms [env.py: 1075] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.160, -1.002, 0.022) [env.py: 1079] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.3 deg [env.py: 1082] +05/18 16:07:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/18 16:07:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:14 INFO: [Worker 0] Worker 0 house 2 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.215s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:07:15 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.503[m] 96.745[deg] [grasp_sample.py: 596] +05/18 16:07:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:07:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:07:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:16 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 16:08:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:08:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:09:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:09:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:31 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.724s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:09:31 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.039[m] 8.813[deg] [grasp_sample.py: 596] +05/18 16:09:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:09:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:09:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:09:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:04 INFO: [Worker 0] Worker 0 house 2 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:10:27 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [pipeline.py: 1174] +05/18 16:10:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_060 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:10:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:10:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:10:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [save_utils.py: 785] +05/18 16:10:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_060 in 14.52s (batch: 3.41s, save: 11.11s) [pipeline.py: 300] +05/18 16:10:42 INFO: [Worker 0] [PROFILE] Episode 13 house 2 success=True episode_total=0.49s: + episode_total: mean=209.16s, total=209.16s, count=1, min=209156.5ms, max=209156.5ms + sensor_polling: mean=471.6ms, total=141.48s, count=300, min=410.0ms, max=676.4ms + save_trajectories: mean=11.11s, total=11.11s, count=1, min=11114.8ms, max=11114.8ms + physics_step: mean=28.8ms, total=8.65s, count=300, min=17.8ms, max=34.7ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3405.5ms, max=3405.5ms + task_sampling: mean=487.5ms, total=487.5ms, count=1, min=487.5ms, max=487.5ms + task_specific_sample: mean=483.1ms, total=483.1ms, count=1, min=483.1ms, max=483.1ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=479.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.4us, 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 16:10:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:10:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:10:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:10:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064794m [env.py: 870] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 133.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.45318799 -0.30626961 -0.06479445] yaw=-129.5deg [env.py: 1019] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.45408193 -0.33318645 -0.06479445] yaw=-121.3deg [env.py: 1019] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.1ms [env.py: 1075] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.453, -0.306, -0.065) [env.py: 1079] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.5 deg [env.py: 1082] +05/18 16:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/18 16:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:44 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.960s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:10:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 81.103[deg] [grasp_sample.py: 596] +05/18 16:10:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:10:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:10:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:11:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:12:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:12:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:50 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.807s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:50 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.153[deg] [grasp_sample.py: 596] +05/18 16:12:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:12:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:12:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:13:13 INFO: [Worker 0] Worker 0 house 2 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:13:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [pipeline.py: 1174] +05/18 16:13:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_060 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:13:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:13:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:13:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [save_utils.py: 785] +05/18 16:13:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_060 in 14.66s (batch: 3.40s, save: 11.26s) [pipeline.py: 300] +05/18 16:13:52 INFO: [Worker 0] [PROFILE] Episode 14 house 2 success=True episode_total=0.49s: + episode_total: mean=188.37s, total=188.37s, count=1, min=188373.7ms, max=188373.7ms + sensor_polling: mean=416.7ms, total=125.01s, count=300, min=394.2ms, max=615.1ms + save_trajectories: mean=11.26s, total=11.26s, count=1, min=11258.8ms, max=11258.8ms + physics_step: mean=24.8ms, total=7.44s, count=300, min=18.0ms, max=30.4ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3399.5ms, max=3399.5ms + task_sampling: mean=489.3ms, total=489.3ms, count=1, min=489.3ms, max=489.3ms + task_specific_sample: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=495.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:13:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:13:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:53 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:13:53 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 16:13:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:53 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 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013894m [env.py: 870] +05/18 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.31962948 -0.09479628 -0.01389391] yaw=-119.3deg [env.py: 1019] +05/18 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.11920425 -0.19073135 -0.01389391] yaw=-158.6deg [env.py: 1019] +05/18 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 142.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.13103879 -0.71826549 -0.01389391] yaw=-142.3deg [env.py: 1019] +05/18 16:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=248.9ms, total=248.9ms [env.py: 1075] +05/18 16:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.320, -0.095, -0.014) [env.py: 1079] +05/18 16:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.3 deg [env.py: 1082] +05/18 16:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.115m [env.py: 1086] +05/18 16:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:54 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:13:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.813s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:13:57 ERROR: [Worker 0] Worker 0 house 2 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:13:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:13:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:58 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:13:58 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 16:13:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:58 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 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011069m [env.py: 870] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.04216823 -0.40028587 0.01106882] yaw=-158.4deg [env.py: 1019] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.29051512 -0.5155005 0.01106882] yaw=-141.8deg [env.py: 1019] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18830416 -1.00920015 0.01106882] yaw=156.6deg [env.py: 1019] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=76.8ms, total=76.9ms [env.py: 1075] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.042, -0.400, 0.011) [env.py: 1079] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg [env.py: 1082] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.154m [env.py: 1086] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:59 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:13:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.146s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:14:02 ERROR: [Worker 0] Worker 0 house 2 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:14:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:14:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:03 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:14:03 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 16:14:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033913m [env.py: 870] +05/18 16:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.33205677 -0.46981041 0.03391335] yaw=-163.2deg [env.py: 1019] +05/18 16:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.0ms, total=191.0ms [env.py: 1075] +05/18 16:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.332, -0.470, 0.034) [env.py: 1079] +05/18 16:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg [env.py: 1082] +05/18 16:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/18 16:14:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:04 INFO: [Worker 0] Worker 0 house 2 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.044s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:14:05 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.572[m] 82.826[deg] [grasp_sample.py: 596] +05/18 16:14:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:14:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:14:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:14:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:15:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:26 INFO: [Worker 0] Worker 0 house 2 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:16:50 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [pipeline.py: 1174] +05/18 16:16:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_060 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:16:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:17:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:17:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [save_utils.py: 785] +05/18 16:17:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_060 in 14.58s (batch: 3.34s, save: 11.25s) [pipeline.py: 300] +05/18 16:17:05 INFO: [Worker 0] [PROFILE] Episode 17 house 2 success=True episode_total=1.32s: + episode_total: mean=62.88s, total=188.63s, count=3, min=3536.1ms, max=181451.5ms + sensor_polling: mean=435.5ms, total=130.66s, count=300, min=409.9ms, max=653.5ms + save_trajectories: mean=11.25s, total=11.25s, count=1, min=11245.8ms, max=11245.8ms + physics_step: mean=25.7ms, total=7.70s, count=300, min=18.0ms, max=34.3ms + save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3335.9ms, max=3335.9ms + task_sampling: mean=440.7ms, total=1.32s, count=3, min=340.4ms, max=535.9ms + task_specific_sample: mean=437.3ms, total=1.31s, count=3, min=337.3ms, max=531.6ms + scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.9ms + mj_forward_sync: mean=478.6us, total=1.4ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:17:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:06 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.064m, effective arm-mount z=0.796m (base_body_z=-0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.063590m [env.py: 870] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 140.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15548396 -0.58715634 -0.06359045] yaw=-141.2deg [env.py: 1019] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.34856403 -0.28833877 -0.06359045] yaw=-114.3deg [env.py: 1019] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=216.1ms, total=216.2ms [env.py: 1075] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.155, -0.587, -0.064) [env.py: 1079] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg [env.py: 1082] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:07 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.390s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.692[m] 93.362[deg] [grasp_sample.py: 596] +05/18 16:17:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:17:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:17:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:18:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:18:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:25 INFO: [Worker 0] Worker 0 house 2 episode 18 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:19:49 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [pipeline.py: 1174] +05/18 16:19:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_060 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:19:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:20:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:20:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_060 [save_utils.py: 785] +05/18 16:20:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_060 in 14.88s (batch: 3.53s, save: 11.34s) [pipeline.py: 300] +05/18 16:20:04 INFO: [Worker 0] [PROFILE] Episode 18 house 2 success=True episode_total=0.51s: + episode_total: mean=177.69s, total=177.69s, count=1, min=177689.0ms, max=177689.0ms + sensor_polling: mean=422.4ms, total=126.71s, count=300, min=403.0ms, max=656.8ms + save_trajectories: mean=11.34s, total=11.34s, count=1, min=11341.3ms, max=11341.3ms + physics_step: mean=25.3ms, total=7.58s, count=300, min=18.5ms, max=32.3ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3533.9ms, max=3533.9ms + task_sampling: mean=506.9ms, total=506.9ms, count=1, min=506.9ms, max=506.9ms + task_specific_sample: mean=502.6ms, total=502.6ms, count=1, min=502.6ms, max=502.6ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=489.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.6us, 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 16:20:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:20:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:20:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:20:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:05 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:20:05 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 16:20:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:20:05 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 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015829m [env.py: 870] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:20:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.02067585 -0.38966128 0.01582921] yaw=-125.1deg [env.py: 1019] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.19123915 -0.8282335 0.01582921] yaw=-178.3deg [env.py: 1019] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.05140692 -0.61782494 0.01582921] yaw=-179.3deg [env.py: 1019] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:20:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.6ms, total=145.7ms [env.py: 1075] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.021, -0.390, 0.016) [env.py: 1079] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.1 deg [env.py: 1082] +05/18 16:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.178m [env.py: 1086] +05/18 16:20:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:20:06 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:20:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 16:20:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:20:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:20:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:20:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.815s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:20:09 ERROR: [Worker 0] Worker 0 house 2 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:20:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:20:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:20:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:10 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:20:10 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 16:20:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:20:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.066m, effective arm-mount z=0.794m (base_body_z=-0.066m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.066030m [env.py: 870] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:20:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 148.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.42388064 -0.1984245 -0.06603027] yaw=-104.8deg [env.py: 1019] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.18803811 -0.20771203 -0.06603027] yaw=-145.2deg [env.py: 1019] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.31317962 -0.33345036 -0.06603027] yaw=-121.7deg [env.py: 1019] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:20:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.9ms, total=177.0ms [env.py: 1075] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.424, -0.198, -0.066) [env.py: 1079] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.8 deg [env.py: 1082] +05/18 16:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/18 16:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:20:10 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:20:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/18 16:20:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:20:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:20:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:20:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.269s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:20:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.694[m] 115.524[deg] [grasp_sample.py: 596] +05/18 16:20:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:20:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:20:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:15 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 16:21:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:21:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:22:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:22:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.759s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.020[m] 38.203[deg] [grasp_sample.py: 596] +05/18 16:22:31 ERROR: [Worker 0] Worker 0 house 2 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:22:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:22:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:22:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:22:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:32 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:22:32 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 16:22:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:22:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095481m [env.py: 870] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:22:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.11339748 -0.99786575 0.09548128] yaw=203.5deg [env.py: 1019] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.48030802 -0.02588126 0.09548128] yaw=-146.5deg [env.py: 1019] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.09427338 -0.71037282 0.09548128] yaw=-154.9deg [env.py: 1019] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:22:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.3ms, total=94.4ms [env.py: 1075] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.113, -0.998, 0.095) [env.py: 1079] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 203.5 deg [env.py: 1082] +05/18 16:22:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/18 16:22:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:22:32 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:22:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 16:22:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.337s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.715[m] 124.442[deg] [grasp_sample.py: 596] +05/18 16:22:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:22:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:22:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:35 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 16:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:23:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:23:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:23:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:25:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 117.432s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:25:51 ERROR: [Worker 0] Worker 0 house 2 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:25:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:25:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:25:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:53 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:25:53 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 16:25:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:25:53 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 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006858m [env.py: 870] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:25:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.32654781 -0.2422821 0.00685817] yaw=-161.1deg [env.py: 1019] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.0135314 -0.59542519 0.00685817] yaw=-167.4deg [env.py: 1019] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.00936323 -0.35761429 0.00685817] yaw=-150.8deg [env.py: 1019] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:25:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.6ms, total=129.7ms [env.py: 1075] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.327, -0.242, 0.007) [env.py: 1079] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.1 deg [env.py: 1082] +05/18 16:25:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/18 16:25:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:25:53 INFO: [Worker 0] Worker 0 house 2 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:25:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/18 16:25:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:25:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:25:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:25:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.857s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:25:56 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.663[m] 66.656[deg] [grasp_sample.py: 596] +05/18 16:25:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:25:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:25:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:26:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:27:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:27:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:27:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 70 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:01 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.808s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:01 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.160[m] 1.059[deg] [grasp_sample.py: 596] +05/18 16:28:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:28:27 INFO: [Worker 0] Worker 0 house 2 episode 22 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:28:27 WARNING: [Worker 0] Asset Fridge_m_2 (hash: ced2e34b7080d5dfaeb602c72825d9cf) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure) [task_sampler.py: 396] +05/18 16:28:27 INFO: [Worker 0] [PROFILE] Episode 22 house 2 success=False episode_total=1.68s: + episode_total: mean=124.44s, total=497.77s, count=4, min=3469.8ms, max=198797.4ms + sensor_polling: mean=422.8ms, total=299.38s, count=708, min=392.7ms, max=658.1ms + physics_step: mean=25.0ms, total=17.71s, count=708, min=17.9ms, max=37.9ms + task_sampling: mean=420.1ms, total=1.68s, count=4, min=362.9ms, max=457.7ms + task_specific_sample: mean=416.5ms, total=1.67s, count=4, min=360.2ms, max=454.2ms + scene_randomize: mean=1.7ms, total=6.8ms, count=4, min=1.1ms, max=2.3ms + mj_forward_sync: mean=490.1us, total=2.0ms, count=4, min=0.5ms, max=0.5ms + policy_setup: mean=17.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:28:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:29 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076142m [env.py: 870] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.41891564 -0.21419209 0.07614219] yaw=-121.3deg [env.py: 1019] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.16993975 -0.74727367 0.07614219] yaw=-151.4deg [env.py: 1019] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03522161 -0.20692452 0.07614219] yaw=-138.6deg [env.py: 1019] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=110.5ms, total=110.5ms [env.py: 1075] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.419, -0.214, 0.076) [env.py: 1079] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.3 deg [env.py: 1082] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/18 16:28:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:29 INFO: [Worker 0] Worker 0 house 2 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.910s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.579[m] 88.395[deg] [grasp_sample.py: 596] +05/18 16:28:32 ERROR: [Worker 0] Worker 0 house 2 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:28:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:33 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:33 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 16:28:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077321m [env.py: 870] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.331224 -0.0286634 0.07732148] yaw=-143.3deg [env.py: 1019] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 134.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.11011752 -0.39715143 0.07732148] yaw=-182.3deg [env.py: 1019] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=184.5ms, total=184.6ms [env.py: 1075] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.331, -0.029, 0.077) [env.py: 1079] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.3 deg [env.py: 1082] +05/18 16:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.157m [env.py: 1086] +05/18 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:34 INFO: [Worker 0] Worker 0 house 2 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.775s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:37 ERROR: [Worker 0] Worker 0 house 2 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:38 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075085m [env.py: 870] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08284479 -1.44732529 0.07508514] yaw=152.3deg [env.py: 1019] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20989124 -1.26726119 0.07508514] yaw=173.6deg [env.py: 1019] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.33162429 0.01936229 0.07508514] yaw=-108.4deg [env.py: 1019] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.8ms, total=144.8ms [env.py: 1075] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.083, -1.447, 0.075) [env.py: 1079] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.3 deg [env.py: 1082] +05/18 16:28:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.273m [env.py: 1086] +05/18 16:28:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:38 INFO: [Worker 0] Worker 0 house 2 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.772s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:41 ERROR: [Worker 0] Worker 0 house 2 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:43 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:43 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 16:28:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035759m [env.py: 870] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08162057 -0.421432 0.03575922] yaw=-176.5deg [env.py: 1019] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 141.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.12761472 -1.14261068 0.03575922] yaw=178.2deg [env.py: 1019] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.03427549 -0.35985522 0.03575922] yaw=-128.0deg [env.py: 1019] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.1ms, total=146.1ms [env.py: 1075] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.082, -0.421, 0.036) [env.py: 1079] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.5 deg [env.py: 1082] +05/18 16:28:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.257m [env.py: 1086] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:43 INFO: [Worker 0] Worker 0 house 2 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.782s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:46 ERROR: [Worker 0] Worker 0 house 2 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:48 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009770m [env.py: 870] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.41291306 -0.28790682 0.00976959] yaw=-113.0deg [env.py: 1019] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.32707487 -0.50578318 0.00976959] yaw=-144.3deg [env.py: 1019] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.11700669 -0.72312267 0.00976959] yaw=-165.7deg [env.py: 1019] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.3ms, total=129.3ms [env.py: 1075] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.413, -0.288, 0.010) [env.py: 1079] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.0 deg [env.py: 1082] +05/18 16:28:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/18 16:28:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:48 INFO: [Worker 0] Worker 0 house 2 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.407s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:54 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.635[m] 119.539[deg] [grasp_sample.py: 596] +05/18 16:28:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:54 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 16:29:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:06 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 16:30:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:07 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.685s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:07 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.058[m] 19.514[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] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:25 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 16:30:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:26 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.634s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:26 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.054[m] 9.518[deg] [grasp_sample.py: 596] +05/18 16:30:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:44 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 16:30:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:45 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.633s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:45 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.048[m] 13.870[deg] [grasp_sample.py: 596] +05/18 16:30:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:31:02 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 16:31:02 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 16:31:03 INFO: [Worker 0] Worker 0 house 2 episode 27 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:31:03 INFO: [Worker 0] [PROFILE] Episode 27 house 2 success=False episode_total=2.02s: + episode_total: mean=29.61s, total=148.03s, count=5, min=2749.0ms, max=135242.0ms + sensor_polling: mean=413.9ms, total=117.56s, count=284, min=391.2ms, max=636.1ms + physics_step: mean=24.8ms, total=7.04s, count=284, min=18.1ms, max=38.8ms + task_sampling: mean=404.3ms, total=2.02s, count=5, min=381.5ms, max=455.5ms + task_specific_sample: mean=401.1ms, total=2.01s, count=5, min=378.5ms, max=451.2ms + scene_randomize: mean=1.4ms, total=7.1ms, count=5, min=1.2ms, max=1.9ms + mj_forward_sync: mean=486.4us, total=2.4ms, count=5, min=0.5ms, max=0.5ms + policy_setup: mean=14.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:31:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:04 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008275m [env.py: 870] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.00182031 -0.47291391 0.00827541] yaw=-166.5deg [env.py: 1019] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20572181 -1.33877587 0.00827541] yaw=159.2deg [env.py: 1019] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.22174665 -1.13689053 0.00827541] yaw=186.5deg [env.py: 1019] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=164.9ms, total=164.9ms [env.py: 1075] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.002, -0.473, 0.008) [env.py: 1079] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg [env.py: 1082] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.164m [env.py: 1086] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:05 INFO: [Worker 0] Worker 0 house 2 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.783s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:31:08 ERROR: [Worker 0] Worker 0 house 2 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:31:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:09 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:09 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 16:31:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019615m [env.py: 870] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 133.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.46129467 -0.18689539 0.01961452] yaw=-107.9deg [env.py: 1019] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.09750552 -1.0993441 0.01961452] yaw=185.3deg [env.py: 1019] +05/18 16:31:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.8ms, total=193.8ms [env.py: 1075] +05/18 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.461, -0.187, 0.020) [env.py: 1079] +05/18 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.9 deg [env.py: 1082] +05/18 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/18 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:10 INFO: [Worker 0] Worker 0 house 2 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.788s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:15 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.583[m] 98.657[deg] [grasp_sample.py: 596] +05/18 16:31:16 ERROR: [Worker 0] Worker 0 house 2 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:31:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:17 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:17 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 16:31:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:17 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 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002193m [env.py: 870] +05/18 16:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 134.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12948164 -1.25759337 0.00219256] yaw=182.0deg [env.py: 1019] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16124008 -1.05279498 0.00219256] yaw=191.5deg [env.py: 1019] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.06481899 -0.88364673 0.00219256] yaw=-153.8deg [env.py: 1019] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.4ms, total=161.4ms [env.py: 1075] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.129, -1.258, 0.002) [env.py: 1079] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.0 deg [env.py: 1082] +05/18 16:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.251m [env.py: 1086] +05/18 16:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:18 INFO: [Worker 0] Worker 0 house 2 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.870s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:31:21 ERROR: [Worker 0] Worker 0 house 2 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:31:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:22 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:22 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 16:31:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056904m [env.py: 870] +05/18 16:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.23418555 -1.04607225 0.05690352] yaw=175.4deg [env.py: 1019] +05/18 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.26734744 -0.56897744 0.05690352] yaw=-147.9deg [env.py: 1019] +05/18 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=198.0ms, total=198.1ms [env.py: 1075] +05/18 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.234, -1.046, 0.057) [env.py: 1079] +05/18 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.4 deg [env.py: 1082] +05/18 16:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/18 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:23 INFO: [Worker 0] Worker 0 house 2 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.907s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.608[m] 127.301[deg] [grasp_sample.py: 596] +05/18 16:31:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:31:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:31:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:25 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 16:32:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:32:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:33:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] diff --git a/fridge_m_2house/sim/house_2/chunk_060/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_060/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5acf427b465c450c147268708fb0a36cd9b71d75 --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_060/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1564e2c1ad3c7bdd4c4a2b9ca59db417361facaec9621b3c516070684b8b7f9 +size 772859164