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b/fridge_m_2house/sim/house_1/chunk_004/experiment_config_20260518_154206.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cab9768e280ee8bcf703c7b8c81b1a5bab99e12f2425fca2397cdd0ba3a958f7 +size 8153 diff --git a/fridge_m_2house/sim/house_1/chunk_004/running_log.log b/fridge_m_2house/sim/house_1/chunk_004/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..8d06880a3514087b9ddfba04bdac229506a7e17a --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_004/running_log.log @@ -0,0 +1,1533 @@ +05/18 15:42:06 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 15:42:06 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 15:42:06 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:42:06 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_004'), + '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': 30004, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.1, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.85, 1.3), + 'base_pose_sampling_theta_range_rad': (-0.5, 1.0), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 15:42:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 15:42:06 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:42:06 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 15:42:07 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:42:10 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 15:42:10 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 15:42:10 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:42:10 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:42:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:42:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:42:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:42:10 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 15:42:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:42:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079226m [env.py: 870] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:42:10 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.18344419 -1.3092485 0.07922638] yaw=127.5deg [env.py: 1019] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.37719549 0.11124261 0.07922638] yaw=-120.0deg [env.py: 1019] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08202708 -1.19247345 0.07922638] yaw=166.3deg [env.py: 1019] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:42:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=21.0ms, retries=167.9ms, total=188.9ms [env.py: 1075] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.183, -1.309, 0.079) [env.py: 1079] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 127.5 deg [env.py: 1082] +05/18 15:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/18 15:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:42:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:42:10 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:42:46 INFO: [Worker 0] Warmed up parallel IK solver in 35.401s [base_object_manipulation_planner_policy.py: 377] +05/18 15:42:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:42:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:42:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:42:48 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.480s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:42:48 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.700[m] 124.002[deg] [grasp_sample.py: 596] +05/18 15:42:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:42:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:42:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:42:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:44:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:44:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:42 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:46:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [pipeline.py: 1174] +05/18 15:46:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:46:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:46:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:46:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [save_utils.py: 785] +05/18 15:46:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.94s (batch: 3.35s, save: 10.59s) [pipeline.py: 300] +05/18 15:46:20 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.14s: + episode_total: mean=253.83s, total=253.83s, count=1, min=253830.1ms, max=253830.1ms + sensor_polling: mean=531.1ms, total=159.32s, count=300, min=435.3ms, max=619.8ms + save_trajectories: mean=10.59s, total=10.59s, count=1, min=10586.2ms, max=10586.2ms + physics_step: mean=33.8ms, total=10.14s, count=300, min=26.0ms, max=39.3ms + task_sampling: mean=4.14s, total=4.14s, count=1, min=4143.8ms, max=4143.8ms + scene_load: mean=3.60s, total=3.60s, count=1, min=3603.6ms, max=3603.6ms + save_batch_prep: mean=3.35s, total=3.35s, count=1, min=3353.2ms, max=3353.2ms + scene_env_create: mean=1.97s, total=1.97s, count=1, min=1967.7ms, max=1967.7ms + scene_compile: mean=1.48s, total=1.48s, count=1, min=1475.4ms, max=1475.4ms + compile_mujoco: mean=1.14s, total=1.14s, count=1, min=1144.6ms, max=1144.6ms + task_specific_sample: mean=536.2ms, total=536.2ms, count=1, min=536.2ms, max=536.2ms + compile_xml_load: mean=250.8ms, total=250.8ms, count=1, min=250.8ms, max=250.8ms + scene_init: mean=110.2ms, total=110.2ms, count=1, min=110.2ms, max=110.2ms + compile_aux_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + compile_aux_policy_objects: mean=50.2ms, total=50.2ms, count=1, min=50.2ms, max=50.2ms + scene_asset_install: mean=50.0ms, total=50.0ms, count=1, min=50.0ms, max=50.0ms + asset_install_grasps: mean=35.8ms, total=35.8ms, count=1, min=35.8ms, max=35.8ms + compile_robot_add: mean=21.4ms, total=21.4ms, count=1, min=21.4ms, max=21.4ms + asset_install_objects: mean=11.3ms, total=11.3ms, count=1, min=11.3ms, max=11.3ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + mj_forward_sync: mean=597.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=33.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:46:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:46:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:46:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:46:22 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 15:46:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:46:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015067m [env.py: 870] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:46:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1511171 -1.0856118 0.01506729] yaw=158.0deg [env.py: 1019] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.05229536 -0.88182931 0.01506729] yaw=167.5deg [env.py: 1019] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 5.0239278e-04 -6.4568448e-01 1.5067292e-02] yaw=-159.3deg [env.py: 1019] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:46:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=116.7ms, total=116.8ms [env.py: 1075] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.151, -1.086, 0.015) [env.py: 1079] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.0 deg [env.py: 1082] +05/18 15:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/18 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:46:22 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:46:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 15:46:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:46:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:46:24 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.413s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:46:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.604[m] 128.089[deg] [grasp_sample.py: 596] +05/18 15:46:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:46:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:46:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:25 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 15:47:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:47:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:48:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:48:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:38 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.202s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:48:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.031[m] 0.268[deg] [grasp_sample.py: 596] +05/18 15:48:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:48:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:48:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:49:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:49:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:49:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.100s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:26 INFO: [Worker 0] Feasibility-checked 74 grasps in 3.059s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:49:26 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.658[deg] [grasp_sample.py: 596] +05/18 15:49:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:49:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:49:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:49:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:51 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:49:51 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.42s: + episode_total: mean=209.14s, total=209.14s, count=1, min=209143.7ms, max=209143.7ms + sensor_polling: mean=530.3ms, total=159.09s, count=300, min=485.8ms, max=649.5ms + physics_step: mean=34.1ms, total=10.22s, count=300, min=23.5ms, max=49.3ms + task_sampling: mean=422.2ms, total=422.2ms, count=1, min=422.2ms, max=422.2ms + task_specific_sample: mean=418.1ms, total=418.1ms, count=1, min=418.1ms, max=418.1ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=541.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:49:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:49:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:49:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:49:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:49:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:49:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:49:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006917m [env.py: 870] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:49:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.3675843 0.21276846 -0.00691664] yaw=-109.5deg [env.py: 1019] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.38813017 -0.35459002 -0.00691664] yaw=-139.6deg [env.py: 1019] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00222394 -1.35916095 -0.00691664] yaw=149.1deg [env.py: 1019] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:49:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=160.3ms, total=160.3ms [env.py: 1075] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.368, 0.213, -0.007) [env.py: 1079] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.5 deg [env.py: 1082] +05/18 15:49:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.290m [env.py: 1086] +05/18 15:49:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:49:53 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:49:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 15:49:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:58 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.859s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:49:58 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:50:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:50:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:50:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:00 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 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064390m [env.py: 870] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.1353636 -1.14494086 -0.06439018] yaw=159.3deg [env.py: 1019] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.14623286 -0.63974809 -0.06439018] yaw=-185.3deg [env.py: 1019] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.03308472 -0.50400145 -0.06439018] yaw=-179.3deg [env.py: 1019] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=224.0ms, total=224.0ms [env.py: 1075] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.135, -1.145, -0.064) [env.py: 1079] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg [env.py: 1082] +05/18 15:50:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:00 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.117s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:02 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.635s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.587[m] 89.242[deg] [grasp_sample.py: 596] +05/18 15:50:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:50:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:50:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:51:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:51:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:29 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:53:53 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [pipeline.py: 1174] +05/18 15:53:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:53:53 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:54:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:54:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [save_utils.py: 785] +05/18 15:54:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.83s (batch: 4.61s, save: 11.22s) [pipeline.py: 300] +05/18 15:54:10 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.01s: + episode_total: mean=127.81s, total=255.62s, count=2, min=5530.2ms, max=250086.0ms + sensor_polling: mean=531.2ms, total=159.37s, count=300, min=477.8ms, max=628.8ms + save_trajectories: mean=11.22s, total=11.22s, count=1, min=11219.5ms, max=11219.5ms + physics_step: mean=36.9ms, total=11.08s, count=300, min=22.2ms, max=47.4ms + save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4611.4ms, max=4611.4ms + task_sampling: mean=507.0ms, total=1.01s, count=2, min=462.1ms, max=551.8ms + task_specific_sample: mean=503.3ms, total=1.01s, count=2, min=458.6ms, max=548.0ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.6ms, max=1.7ms + mj_forward_sync: mean=566.5us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=24.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:54:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:54:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:11 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:54:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092925m [env.py: 870] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12090507 -1.37392573 0.09292529] yaw=130.6deg [env.py: 1019] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.38890438 0.01655722 0.09292529] yaw=-131.1deg [env.py: 1019] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.11559168 -0.91809737 0.09292529] yaw=168.1deg [env.py: 1019] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=182.3ms, total=182.4ms [env.py: 1075] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.121, -1.374, 0.093) [env.py: 1079] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 130.6 deg [env.py: 1082] +05/18 15:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/18 15:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:12 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:19 INFO: [Worker 0] Feasibility-checked 86 grasps in 7.061s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:19 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.853[m] 105.289[deg] [grasp_sample.py: 596] +05/18 15:54:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:20 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 15:55:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:56:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:56:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:56:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 64 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:51 INFO: [Worker 0] Feasibility-checked 64 grasps in 89.377s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:57:51 INFO: [Worker 0] Feasible grasp found 217 (originally 102): w/ 0.149[m] 179.648[deg] [grasp_sample.py: 596] +05/18 15:57:52 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:57:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:57:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:57:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.030m, effective arm-mount z=0.830m (base_body_z=-0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.030040m [env.py: 870] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.05571457 -0.78899543 -0.03003995] yaw=-161.9deg [env.py: 1019] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1874634 -0.61667649 -0.03003995] yaw=-167.9deg [env.py: 1019] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01363663 -1.22446714 -0.03003995] yaw=135.6deg [env.py: 1019] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=157.9ms, total=158.0ms [env.py: 1075] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.056, -0.789, -0.030) [env.py: 1079] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg [env.py: 1082] +05/18 15:57:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/18 15:57:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:55 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:57 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.218s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:57:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.710[m] 96.692[deg] [grasp_sample.py: 596] +05/18 15:57:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:57:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:57:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:58 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 15:59:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:59:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:50 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:01:21 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [pipeline.py: 1174] +05/18 16:01:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:01:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:01:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:01:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [save_utils.py: 785] +05/18 16:01:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.91s (batch: 3.79s, save: 12.12s) [pipeline.py: 300] +05/18 16:01:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.04s: + episode_total: mean=222.17s, total=444.34s, count=2, min=221261.4ms, max=223075.3ms + sensor_polling: mean=521.8ms, total=256.21s, count=491, min=493.3ms, max=648.9ms + physics_step: mean=34.3ms, total=16.84s, count=491, min=26.0ms, max=44.2ms + save_trajectories: mean=12.12s, total=12.12s, count=1, min=12124.1ms, max=12124.1ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3785.6ms, max=3785.6ms + task_sampling: mean=518.0ms, total=1.04s, count=2, min=491.3ms, max=544.6ms + task_specific_sample: mean=513.6ms, total=1.03s, count=2, min=486.7ms, max=540.5ms + scene_randomize: mean=2.6ms, total=5.1ms, count=2, min=2.5ms, max=2.6ms + mj_forward_sync: mean=670.8us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:01:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:01:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:01:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:39 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:01:39 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 16:01:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:01:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018953m [env.py: 870] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:01:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.14291565 -0.99593588 0.0189526 ] yaw=174.1deg [env.py: 1019] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:01:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=235.3ms, total=235.3ms [env.py: 1075] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.143, -0.996, 0.019) [env.py: 1079] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.1 deg [env.py: 1082] +05/18 16:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/18 16:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:01:39 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 16:01:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 16:01:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:01:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:01:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:01:42 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.441s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:01:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.609[m] 113.681[deg] [grasp_sample.py: 596] +05/18 16:01:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:01:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:01:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:43 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 16:02:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:03:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:37 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:05:03 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [pipeline.py: 1174] +05/18 16:05:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:05:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:05:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:05:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [save_utils.py: 785] +05/18 16:05:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.63s (batch: 3.71s, save: 11.91s) [pipeline.py: 300] +05/18 16:05:19 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.58s: + episode_total: mean=220.75s, total=220.75s, count=1, min=220749.3ms, max=220749.3ms + sensor_polling: mean=527.0ms, total=158.10s, count=300, min=497.2ms, max=660.5ms + save_trajectories: mean=11.91s, total=11.91s, count=1, min=11913.3ms, max=11913.3ms + physics_step: mean=34.0ms, total=10.19s, count=300, min=23.8ms, max=40.1ms + save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3712.5ms, max=3712.5ms + task_sampling: mean=577.1ms, total=577.1ms, count=1, min=577.1ms, max=577.1ms + task_specific_sample: mean=572.4ms, total=572.4ms, count=1, min=572.4ms, max=572.4ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=647.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=25.9us, 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 16:05:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:05:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:05:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:05:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:21 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 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094798m [env.py: 870] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.18954211 -0.32960444 0.09479826] yaw=-176.1deg [env.py: 1019] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.09838517 -1.38378967 0.09479826] yaw=168.1deg [env.py: 1019] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.29585528 -0.19665992 0.09479826] yaw=-132.5deg [env.py: 1019] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=253.2ms, total=253.3ms [env.py: 1075] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.190, -0.330, 0.095) [env.py: 1079] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.1 deg [env.py: 1082] +05/18 16:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/18 16:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:22 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.127s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:27 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.942s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:05:27 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.692[m] 65.425[deg] [grasp_sample.py: 596] +05/18 16:05:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:05:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:05:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:06:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:06:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:19 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:08:45 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [pipeline.py: 1174] +05/18 16:08:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:08:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:09:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:09:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [save_utils.py: 785] +05/18 16:09:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.34s (batch: 3.54s, save: 11.80s) [pipeline.py: 300] +05/18 16:09:01 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.61s: + episode_total: mean=220.34s, total=220.34s, count=1, min=220340.0ms, max=220340.0ms + sensor_polling: mean=524.6ms, total=157.37s, count=300, min=483.3ms, max=660.2ms + save_trajectories: mean=11.80s, total=11.80s, count=1, min=11800.2ms, max=11800.2ms + physics_step: mean=34.3ms, total=10.30s, count=300, min=26.8ms, max=40.0ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3539.2ms, max=3539.2ms + task_sampling: mean=613.3ms, total=613.3ms, count=1, min=613.3ms, max=613.3ms + task_specific_sample: mean=608.1ms, total=608.1ms, count=1, min=608.1ms, max=608.1ms + scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + mj_forward_sync: mean=805.2us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=28.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:09:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:09:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:09:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:09:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:09:03 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 16:09:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:09:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032285m [env.py: 870] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:09:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.14371517 -0.49407042 0.03228455] yaw=-153.3deg [env.py: 1019] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01971046 -0.16822389 0.03228455] yaw=-138.5deg [env.py: 1019] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.41788443 0.1178423 0.03228455] yaw=-124.1deg [env.py: 1019] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:09:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=127.6ms, total=127.6ms [env.py: 1075] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.144, -0.494, 0.032) [env.py: 1079] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.3 deg [env.py: 1082] +05/18 16:09:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/18 16:09:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:09:03 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 16:09:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 16:09:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:12 INFO: [Worker 0] Feasibility-checked 86 grasps in 8.085s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:09:12 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.704[m] 94.577[deg] [grasp_sample.py: 596] +05/18 16:09:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:09:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:09:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:13 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 16:10:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:10:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:01 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:12:43 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [pipeline.py: 1174] +05/18 16:12:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:12:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:12:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:12:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [save_utils.py: 785] +05/18 16:12:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.54s (batch: 3.61s, save: 11.94s) [pipeline.py: 300] +05/18 16:12:59 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.47s: + episode_total: mean=236.32s, total=236.32s, count=1, min=236318.2ms, max=236318.2ms + sensor_polling: mean=518.7ms, total=155.61s, count=300, min=491.1ms, max=646.9ms + save_trajectories: mean=11.94s, total=11.94s, count=1, min=11936.9ms, max=11936.9ms + physics_step: mean=34.9ms, total=10.46s, count=300, min=25.0ms, max=40.6ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3606.4ms, max=3606.4ms + task_sampling: mean=470.9ms, total=470.9ms, count=1, min=470.9ms, max=470.9ms + task_specific_sample: mean=466.1ms, total=466.1ms, count=1, min=466.1ms, max=466.1ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=780.2us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=16.2us, 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 16:13:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:13:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:13:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:13:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.077m, effective arm-mount z=0.783m (base_body_z=-0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.077393m [env.py: 870] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.31639949 -0.4088521 -0.077393 ] yaw=-176.0deg [env.py: 1019] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22436206 -0.34052335 -0.077393 ] yaw=-128.8deg [env.py: 1019] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 151.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.7ms, total=244.7ms [env.py: 1075] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.316, -0.409, -0.077) [env.py: 1079] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.0 deg [env.py: 1082] +05/18 16:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/18 16:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:01 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:13:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:03 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.574s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:13:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.442[m] 83.161[deg] [grasp_sample.py: 596] +05/18 16:13:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:13:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:13:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:13:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:14:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:50 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:16:20 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [pipeline.py: 1174] +05/18 16:16:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:16:20 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:16:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:16:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [save_utils.py: 785] +05/18 16:16:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.51s (batch: 3.36s, save: 11.15s) [pipeline.py: 300] +05/18 16:16:35 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.61s: + episode_total: mean=214.44s, total=214.44s, count=1, min=214435.1ms, max=214435.1ms + sensor_polling: mean=509.5ms, total=152.84s, count=300, min=474.0ms, max=653.9ms + save_trajectories: mean=11.15s, total=11.15s, count=1, min=11149.5ms, max=11149.5ms + physics_step: mean=34.3ms, total=10.29s, count=300, min=26.5ms, max=39.3ms + save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3358.8ms, max=3358.8ms + task_sampling: mean=607.4ms, total=607.4ms, count=1, min=607.4ms, max=607.4ms + task_specific_sample: mean=602.8ms, total=602.8ms, count=1, min=602.8ms, max=602.8ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=755.4us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=18.2us, 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 16:16:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:16:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:16:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:16:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:16:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:16:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058573m [env.py: 870] +05/18 16:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:16:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12937349 -0.86377049 0.05857347] yaw=-179.6deg [env.py: 1019] +05/18 16:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.10876731 -0.70607833 0.05857347] yaw=-148.8deg [env.py: 1019] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 136.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.17639557 -0.4424728 0.05857347] yaw=-142.9deg [env.py: 1019] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:16:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.4ms, total=147.5ms [env.py: 1075] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.129, -0.864, 0.059) [env.py: 1079] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.6 deg [env.py: 1082] +05/18 16:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:16:37 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 16:16:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/18 16:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:16:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:38 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.321s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:16:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.560[m] 123.113[deg] [grasp_sample.py: 596] +05/18 16:16:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:16:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:16:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:40 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 16:17:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:17:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:17:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:17:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:18:14 INFO: [Worker 0] Feasibility-checked 86 grasps in 16.006s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:18:14 INFO: [Worker 0] Feasible grasp found 105 (originally 105): w/ 0.300[m] 12.751[deg] [grasp_sample.py: 596] +05/18 16:18:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:18:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:18:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:19:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:02 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:20:38 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [pipeline.py: 1174] +05/18 16:20:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:20:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:20:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:20:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [save_utils.py: 785] +05/18 16:20:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.17s (batch: 3.31s, save: 10.86s) [pipeline.py: 300] +05/18 16:20:52 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.48s: + episode_total: mean=255.83s, total=255.83s, count=1, min=255832.8ms, max=255832.8ms + sensor_polling: mean=521.8ms, total=156.55s, count=300, min=471.9ms, max=685.5ms + save_trajectories: mean=10.86s, total=10.86s, count=1, min=10858.2ms, max=10858.2ms + physics_step: mean=33.6ms, total=10.08s, count=300, min=24.6ms, max=41.7ms + save_batch_prep: mean=3.31s, total=3.31s, count=1, min=3313.4ms, max=3313.4ms + task_sampling: mean=478.9ms, total=478.9ms, count=1, min=478.9ms, max=478.9ms + task_specific_sample: mean=474.1ms, total=474.1ms, count=1, min=474.1ms, max=474.1ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=713.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + 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 16:20:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:20:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:20:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:20:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:20:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:20:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098895m [env.py: 870] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:20:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.45850631 -0.02922224 0.09889479] yaw=-116.9deg [env.py: 1019] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.13316386 -1.11433582 0.09889479] yaw=160.0deg [env.py: 1019] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.18188556 -0.66560079 0.09889479] yaw=-154.3deg [env.py: 1019] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:20:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=188.3ms, total=188.4ms [env.py: 1075] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.459, -0.029, 0.099) [env.py: 1079] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.9 deg [env.py: 1082] +05/18 16:20:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/18 16:20:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:20:54 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 16:20:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s [base_object_manipulation_planner_policy.py: 377] +05/18 16:20:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:20:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:20:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:20:59 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.766s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:20:59 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:21:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:21:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:21:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.091m, effective arm-mount z=0.769m (base_body_z=-0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.091263m [env.py: 870] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20518339 -0.18605491 -0.09126315] yaw=-117.3deg [env.py: 1019] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.08366131 -1.24474676 -0.09126315] yaw=184.6deg [env.py: 1019] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.04170406 -0.36239227 -0.09126315] yaw=-136.9deg [env.py: 1019] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.5ms [env.py: 1075] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.205, -0.186, -0.091) [env.py: 1079] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -117.3 deg [env.py: 1082] +05/18 16:21:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.104m [env.py: 1086] +05/18 16:21:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:01 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:06 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.830s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:21:06 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:21:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:21:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:21:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045286m [env.py: 870] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10678039 -0.95035532 -0.04528605] yaw=148.3deg [env.py: 1019] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 148.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.48913156 -0.12474984 -0.04528605] yaw=-155.8deg [env.py: 1019] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=229.5ms, total=229.5ms [env.py: 1075] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.107, -0.950, -0.045) [env.py: 1079] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.3 deg [env.py: 1082] +05/18 16:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.184m [env.py: 1086] +05/18 16:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:08 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:13 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.791s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:21:13 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:21:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:21:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:21:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.059m, effective arm-mount z=0.801m (base_body_z=-0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.059414m [env.py: 870] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.20016564 -0.88402791 -0.05941404] yaw=166.3deg [env.py: 1019] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.21896949 -0.78194129 -0.05941404] yaw=-146.7deg [env.py: 1019] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.39382025 -0.30267633 -0.05941404] yaw=-141.5deg [env.py: 1019] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=216.7ms, total=216.7ms [env.py: 1075] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.200, -0.884, -0.059) [env.py: 1079] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.3 deg [env.py: 1082] +05/18 16:21:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/18 16:21:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:15 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:17 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.223s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:21:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.528[m] 89.595[deg] [grasp_sample.py: 596] +05/18 16:21:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:21:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:21:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:22:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:22:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:05 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:24:37 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [pipeline.py: 1174] +05/18 16:24:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:24:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:24:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:24:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [save_utils.py: 785] +05/18 16:24:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.29s (batch: 3.48s, save: 10.81s) [pipeline.py: 300] +05/18 16:24:52 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=2.08s: + episode_total: mean=58.42s, total=233.69s, count=4, min=5500.0ms, max=217133.0ms + sensor_polling: mean=512.0ms, total=153.61s, count=300, min=484.0ms, max=640.6ms + save_trajectories: mean=10.81s, total=10.81s, count=1, min=10808.9ms, max=10808.9ms + physics_step: mean=35.9ms, total=10.76s, count=300, min=25.8ms, max=49.9ms + save_batch_prep: mean=3.48s, total=3.48s, count=1, min=3478.5ms, max=3478.5ms + task_sampling: mean=521.0ms, total=2.08s, count=4, min=508.6ms, max=533.1ms + task_specific_sample: mean=517.6ms, total=2.07s, count=4, min=505.4ms, max=530.1ms + scene_randomize: mean=1.8ms, total=7.0ms, count=4, min=1.4ms, max=2.6ms + mj_forward_sync: mean=612.0us, total=2.4ms, count=4, min=0.5ms, max=0.7ms + policy_setup: mean=14.8us, 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 16:24:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:24:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:24:53 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 16:24:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.083m, effective arm-mount z=0.777m (base_body_z=-0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.083378m [env.py: 870] +05/18 16:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.41448824 -0.08582411 -0.08337831] yaw=-146.3deg [env.py: 1019] +05/18 16:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -100.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 140.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.10496394 -0.6693127 -0.08337831] yaw=-171.5deg [env.py: 1019] +05/18 16:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=239.2ms, total=239.3ms [env.py: 1075] +05/18 16:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.414, -0.086, -0.083) [env.py: 1079] +05/18 16:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg [env.py: 1082] +05/18 16:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/18 16:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:54 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:54 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:24:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:59 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.832s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:59 INFO: [Worker 0] Feasible grasp found 47 (originally 47): w/ 0.652[m] 81.116[deg] [grasp_sample.py: 596] +05/18 16:24:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:25:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:25:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:26:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:26:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:26:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:27:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:27:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.105s, found 72 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:15 INFO: [Worker 0] Feasibility-checked 72 grasps in 4.862s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:15 INFO: [Worker 0] Feasible grasp found 110 (originally 110): w/ 0.124[m] 13.665[deg] [grasp_sample.py: 596] +05/18 16:27:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:27:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:27:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:27:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:28:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:28:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:18 INFO: [Worker 0] Feasibility-checked 74 grasps in 4.851s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:18 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:28:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:28:20 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 16:28:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043411m [env.py: 870] +05/18 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=225.5ms, total=225.6ms [env.py: 1105] +05/18 16:28:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 16:28:20 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 16:28:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:28:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:22 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:28:22 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 16:28:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030192m [env.py: 870] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.2787717 0.02063834 0.03019238] yaw=-123.5deg [env.py: 1019] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.00616162 -1.14039769 0.03019238] yaw=149.1deg [env.py: 1019] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=237.9ms, total=238.0ms [env.py: 1075] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.279, 0.021, 0.030) [env.py: 1079] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.5 deg [env.py: 1082] +05/18 16:28:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.191m [env.py: 1086] +05/18 16:28:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:22 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:22 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:27 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.808s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:27 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [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, 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=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, 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, -0.866, 1.306) [env.py: 845] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036049m [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 23129 free points within sampling radius [env.py: 907] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 135.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.19161571 -0.62954086 -0.0360488 ] yaw=-154.5deg [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 7: pos=[-0.43818852 -0.26669079 -0.0360488 ] yaw=-140.8deg [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 10: pos=[ 0.08099872 -0.93865472 -0.0360488 ] yaw=197.4deg [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 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.7ms, total=238.7ms [env.py: 1075] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.192, -0.630, -0.036) [env.py: 1079] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg [env.py: 1082] +05/18 16:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [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 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:30 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 0.087s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:32 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.851s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.641[m] 98.568[deg] [grasp_sample.py: 596] +05/18 16:28:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:33 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 16:29:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:29:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:14 INFO: [Worker 0] Worker 0 house 1 episode 18 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:31:52 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [pipeline.py: 1174] +05/18 16:31:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:31:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:32:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:32:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_004 [save_utils.py: 785] +05/18 16:32:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.73s (batch: 3.65s, save: 11.08s) [pipeline.py: 300] +05/18 16:32:08 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=1.73s: + episode_total: mean=107.39s, total=429.55s, count=4, min=238.0ms, max=218691.1ms + sensor_polling: mean=513.7ms, total=294.35s, count=573, min=445.8ms, max=667.2ms + physics_step: mean=34.2ms, total=19.57s, count=573, min=20.6ms, max=52.3ms + save_trajectories: mean=11.08s, total=11.08s, count=1, min=11081.8ms, max=11081.8ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3651.5ms, max=3651.5ms + task_specific_sample: mean=486.8ms, total=1.95s, count=4, min=232.2ms, max=593.2ms + task_sampling: mean=576.0ms, total=1.73s, count=3, min=555.2ms, max=597.8ms + task_sampling_failed: mean=238.0ms, total=238.0ms, count=1, min=238.0ms, max=238.0ms + scene_randomize: mean=2.2ms, total=8.8ms, count=4, min=1.6ms, max=3.0ms + mj_forward_sync: mean=635.0us, total=2.5ms, count=4, min=0.6ms, max=0.7ms + policy_setup: mean=15.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:32:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:32:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:32:09 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 16:32:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.000m, effective arm-mount z=0.860m (base_body_z=-0.000m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.000440m [env.py: 870] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23129 free points within sampling radius [env.py: 907] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-4.46671928e-01 -1.16222981e-01 -4.39912292e-04] yaw=-120.0deg [env.py: 1019] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 1.16892632e-01 -1.27990026e+00 -4.39912292e-04] yaw=167.2deg [env.py: 1019] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=245.9ms, total=246.0ms [env.py: 1075] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.447, -0.116, -0.000) [env.py: 1079] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.0 deg [env.py: 1082] +05/18 16:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/18 16:32:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:10 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.125s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:15 INFO: [Worker 0] Feasibility-checked 86 grasps in 4.973s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:32:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.516[m] 90.568[deg] [grasp_sample.py: 596] +05/18 16:32:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:32:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:32:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:33:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m_2house/sim/house_1/chunk_004/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_1/chunk_004/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6a03eb20cda081db3399b7816e491ae9bec823f8 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_004/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44d9ea2cfc1da8eac1937e6bb953e48a52c8117a39bdb9f47178d3407448ac83 +size 791400963