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not set) [pipeline.py: 640] +05/18 15:47:45 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 15:47:45 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:47:45 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_030'), + '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': 30030, + '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 15:47:45 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 15:47:45 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:47:45 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 15:47:46 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:47:48 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 15:47:48 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 15:47:49 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:47:49 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:47:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:47:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098409m [env.py: 870] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:49 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 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.17423916 -0.49254083 0.09840861] yaw=-150.6deg [env.py: 1019] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 139.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=12.2ms, retries=145.8ms, total=158.0ms [env.py: 1075] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.174, -0.493, 0.098) [env.py: 1079] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.6 deg [env.py: 1082] +05/18 15:47:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/18 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:49 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:48:13 INFO: [Worker 0] Warmed up parallel IK solver in 23.733s [base_object_manipulation_planner_policy.py: 377] +05/18 15:48:13 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 15:48:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:13 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.733s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:48:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.569[m] 62.421[deg] [grasp_sample.py: 596] +05/18 15:48:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:48:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:48:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:48:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:44 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:49:58 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 15:49:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:49:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:50:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:50:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 15:50:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.62s (batch: 2.61s, save: 7.02s) [pipeline.py: 300] +05/18 15:50:08 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.81s: + episode_total: mean=143.06s, total=143.06s, count=1, min=143060.9ms, max=143060.9ms + sensor_polling: mean=283.7ms, total=85.12s, count=300, min=272.5ms, max=428.6ms + save_trajectories: mean=7.02s, total=7.02s, count=1, min=7015.4ms, max=7015.4ms + physics_step: mean=13.8ms, total=4.14s, count=300, min=11.1ms, max=15.3ms + task_sampling: mean=3.81s, total=3.81s, count=1, min=3814.8ms, max=3814.8ms + scene_load: mean=3.46s, total=3.46s, count=1, min=3461.8ms, max=3461.8ms + save_batch_prep: mean=2.61s, total=2.61s, count=1, min=2607.9ms, max=2607.9ms + scene_env_create: mean=2.22s, total=2.22s, count=1, min=2216.8ms, max=2216.8ms + scene_compile: mean=1.12s, total=1.12s, count=1, min=1119.8ms, max=1119.8ms + compile_mujoco: mean=695.2ms, total=695.2ms, count=1, min=695.2ms, max=695.2ms + compile_xml_load: mean=359.3ms, total=359.3ms, count=1, min=359.3ms, max=359.3ms + task_specific_sample: mean=350.4ms, total=350.4ms, count=1, min=350.4ms, max=350.4ms + scene_asset_install: mean=62.9ms, total=62.9ms, count=1, min=62.9ms, max=62.9ms + scene_init: mean=62.1ms, total=62.1ms, count=1, min=62.1ms, max=62.1ms + asset_install_grasps: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms + compile_aux_objects: mean=37.3ms, total=37.3ms, count=1, min=37.3ms, max=37.3ms + compile_aux_policy_objects: mean=37.3ms, total=37.3ms, count=1, min=37.3ms, max=37.3ms + compile_robot_add: mean=21.1ms, total=21.1ms, count=1, min=21.1ms, max=21.1ms + asset_install_objects: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + scene_randomize: mean=753.0us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + mj_forward_sync: mean=312.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:50:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:50:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:50:10 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 15:50:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021253m [env.py: 870] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 135.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.10726197 -0.87134632 -0.02125327] yaw=183.6deg [env.py: 1019] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.50379385 -0.22105698 -0.02125327] yaw=-123.8deg [env.py: 1019] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=135.9ms, total=135.9ms [env.py: 1075] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.107, -0.871, -0.021) [env.py: 1079] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.6 deg [env.py: 1082] +05/18 15:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/18 15:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:10 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:10 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 15:50:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:10 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.502s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.448[m] 92.237[deg] [grasp_sample.py: 596] +05/18 15:50:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:50:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:50:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:50:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:50:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:43 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:51:57 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 15:51:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:51:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:52:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:52:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 15:52:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.87s (batch: 2.89s, save: 6.98s) [pipeline.py: 300] +05/18 15:52:07 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.32s: + episode_total: mean=117.54s, total=117.54s, count=1, min=117540.9ms, max=117540.9ms + sensor_polling: mean=287.4ms, total=86.21s, count=300, min=275.7ms, max=444.2ms + save_trajectories: mean=6.98s, total=6.98s, count=1, min=6981.6ms, max=6981.6ms + physics_step: mean=14.6ms, total=4.38s, count=300, min=10.9ms, max=19.9ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2886.7ms, max=2886.7ms + task_sampling: mean=317.7ms, total=317.7ms, count=1, min=317.7ms, max=317.7ms + task_specific_sample: mean=315.0ms, total=315.0ms, count=1, min=315.0ms, max=315.0ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=338.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:52:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:52:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:52:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:52:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048048m [env.py: 870] +05/18 15:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 153.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.0459062 -0.09805545 0.04804813] yaw=-155.3deg [env.py: 1019] +05/18 15:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.22962179 -1.19625032 0.04804813] yaw=165.5deg [env.py: 1019] +05/18 15:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=143.9ms, total=143.9ms [env.py: 1075] +05/18 15:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.046, -0.098, 0.048) [env.py: 1079] +05/18 15:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg [env.py: 1082] +05/18 15:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.284m [env.py: 1086] +05/18 15:52:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:09 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:11 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.915s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:52:11 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:52:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:52:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:12 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:52:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:52:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088428m [env.py: 870] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.29447512 0.04935427 0.08842776] yaw=-107.0deg [env.py: 1019] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03146719 -0.39317786 0.08842776] yaw=-161.6deg [env.py: 1019] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.6ms [env.py: 1075] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.294, 0.049, 0.088) [env.py: 1079] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.0 deg [env.py: 1082] +05/18 15:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.203m [env.py: 1086] +05/18 15:52:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:13 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:13 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 15:52:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:15 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.810s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:52:15 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:52:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:52:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:52:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:52:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.051m, effective arm-mount z=0.809m (base_body_z=-0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.050828m [env.py: 870] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12333429 -0.99061988 -0.05082835] yaw=155.5deg [env.py: 1019] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.05813538 -1.13067176 -0.05082835] yaw=167.7deg [env.py: 1019] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.2037745 -1.0971339 -0.05082835] yaw=173.0deg [env.py: 1019] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=67.8ms, total=67.9ms [env.py: 1075] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.123, -0.991, -0.051) [env.py: 1079] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.5 deg [env.py: 1082] +05/18 15:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m [env.py: 1086] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:16 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:52:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:17 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.545s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.552[m] 90.176[deg] [grasp_sample.py: 596] +05/18 15:52:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:52:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:52:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:52:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:52:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:53:57 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:54:11 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 15:54:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:54:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:54:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:54:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 15:54:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.75s (batch: 2.69s, save: 7.06s) [pipeline.py: 300] +05/18 15:54:21 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.94s: + episode_total: mean=43.27s, total=129.80s, count=3, min=2267.4ms, max=125179.2ms + sensor_polling: mean=291.0ms, total=87.31s, count=300, min=275.5ms, max=504.6ms + save_trajectories: mean=7.06s, total=7.06s, count=1, min=7060.8ms, max=7060.8ms + physics_step: mean=14.2ms, total=4.27s, count=300, min=10.9ms, max=19.1ms + save_batch_prep: mean=2.69s, total=2.69s, count=1, min=2690.6ms, max=2690.6ms + task_sampling: mean=311.7ms, total=935.1ms, count=3, min=235.9ms, max=369.2ms + task_specific_sample: mean=308.7ms, total=926.1ms, count=3, min=234.1ms, max=365.0ms + scene_randomize: mean=1.4ms, total=4.2ms, count=3, min=0.8ms, max=1.9ms + mj_forward_sync: mean=324.9us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=15.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:54:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:54:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:23 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:54:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.050m, effective arm-mount z=0.810m (base_body_z=-0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.050442m [env.py: 870] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.33883559 0.10543416 -0.05044236] yaw=-130.1deg [env.py: 1019] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.9ms, total=138.9ms [env.py: 1075] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.339, 0.105, -0.050) [env.py: 1079] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.1 deg [env.py: 1082] +05/18 15:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.218m [env.py: 1086] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:23 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:23 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 15:54:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:25 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.903s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:54:25 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:54:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:54:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:54:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084217m [env.py: 870] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.29193257 -1.24610584 0.08421662] yaw=130.3deg [env.py: 1019] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 138.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04616076 -1.08178496 0.08421662] yaw=146.1deg [env.py: 1019] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.0340884 -1.0172376 0.08421662] yaw=187.8deg [env.py: 1019] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.8ms, total=90.8ms [env.py: 1075] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.292, -1.246, 0.084) [env.py: 1079] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 130.3 deg [env.py: 1082] +05/18 15:54:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/18 15:54:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:27 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:29 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.281s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:29 INFO: [Worker 0] Feasible grasp found 105 (originally 105): w/ 0.555[m] 59.663[deg] [grasp_sample.py: 596] +05/18 15:54:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:30 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 15:55:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:55:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:02 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:56:15 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 15:56:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:56:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:56:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:56:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 15:56:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.71s (batch: 2.75s, save: 6.96s) [pipeline.py: 300] +05/18 15:56:26 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.59s: + episode_total: mean=60.76s, total=121.53s, count=2, min=2337.7ms, max=119188.2ms + sensor_polling: mean=289.1ms, total=86.72s, count=300, min=273.9ms, max=454.4ms + save_trajectories: mean=6.96s, total=6.96s, count=1, min=6955.2ms, max=6955.2ms + physics_step: mean=13.7ms, total=4.11s, count=300, min=10.8ms, max=16.5ms + save_batch_prep: mean=2.75s, total=2.75s, count=1, min=2750.5ms, max=2750.5ms + task_sampling: mean=295.3ms, total=590.7ms, count=2, min=263.0ms, max=327.7ms + task_specific_sample: mean=292.6ms, total=585.2ms, count=2, min=260.8ms, max=324.4ms + scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=0.8ms, max=2.3ms + mj_forward_sync: mean=321.4us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=15.4us, 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 15:56:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:56:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:56:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:56:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040020m [env.py: 870] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 155.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.00468337 -0.52249679 0.04001954] yaw=-181.7deg [env.py: 1019] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=142.1ms, total=142.1ms [env.py: 1075] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.005, -0.522, 0.040) [env.py: 1079] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.7 deg [env.py: 1082] +05/18 15:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.132m [env.py: 1086] +05/18 15:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:27 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:29 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.824s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:56:29 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:56:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:56:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:56:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:56:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:31 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 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093308m [env.py: 870] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.36214051 -0.14609148 0.09330833] yaw=-125.6deg [env.py: 1019] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 155.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.22727207 -0.34176727 0.09330833] yaw=-148.6deg [env.py: 1019] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.19429021 -1.30923353 0.09330833] yaw=141.8deg [env.py: 1019] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.7ms, total=102.7ms [env.py: 1075] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.362, -0.146, 0.093) [env.py: 1079] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.6 deg [env.py: 1082] +05/18 15:56:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/18 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:31 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:34 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.695s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:56:34 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.619[m] 87.617[deg] [grasp_sample.py: 596] +05/18 15:56:35 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:56:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:56:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:56:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:56:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082054m [env.py: 870] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06229354 -1.33323351 0.08205378] yaw=134.5deg [env.py: 1019] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.06698896 -0.32953891 0.08205378] yaw=-155.0deg [env.py: 1019] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=137.2ms, total=137.2ms [env.py: 1075] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.062, -1.333, 0.082) [env.py: 1079] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.5 deg [env.py: 1082] +05/18 15:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.115m [env.py: 1086] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:36 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:38 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.926s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:56:38 INFO: [Worker 0] Feasible grasp found 46 (originally 46): w/ 0.854[m] 91.440[deg] [grasp_sample.py: 596] +05/18 15:56:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:56:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:56:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:57:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:57:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:57:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:57:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:57:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:50 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.829s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:57:50 INFO: [Worker 0] Feasible grasp found 98 (originally 98): w/ 0.057[m] 5.478[deg] [grasp_sample.py: 596] +05/18 15:57:51 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:57:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:57:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:57:52 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 15:57:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097161m [env.py: 870] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03866475 -0.35890391 0.09716109] yaw=-153.4deg [env.py: 1019] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.23606084 -1.25580595 0.09716109] yaw=155.6deg [env.py: 1019] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.14870104 -0.9915786 0.09716109] yaw=176.3deg [env.py: 1019] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.2ms, total=115.3ms [env.py: 1075] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.039, -0.359, 0.097) [env.py: 1079] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.4 deg [env.py: 1082] +05/18 15:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.223m [env.py: 1086] +05/18 15:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:52 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:54 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.829s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:57:54 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:57:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:57:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:56 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:57:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:56 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 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094806m [env.py: 870] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07544566 -0.27230974 0.09480644] yaw=-158.6deg [env.py: 1019] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07216715 -1.18102057 0.09480644] yaw=143.0deg [env.py: 1019] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.9ms, total=139.9ms [env.py: 1075] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.075, -0.272, 0.095) [env.py: 1079] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.6 deg [env.py: 1082] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.294m [env.py: 1086] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:56 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:58 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.838s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:57:58 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:57:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:57:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:57:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025413m [env.py: 870] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 144.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.21480728 -1.25843102 0.02541261] yaw=169.2deg [env.py: 1019] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.03712586 -0.71043043 0.02541261] yaw=-180.5deg [env.py: 1019] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=137.8ms, total=137.9ms [env.py: 1075] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.215, -1.258, 0.025) [env.py: 1079] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.2 deg [env.py: 1082] +05/18 15:57:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/18 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:00 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:00 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 15:58:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:00 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.831s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:58:00 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.407[m] 92.281[deg] [grasp_sample.py: 596] +05/18 15:58:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:58:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:58:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:58:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:58:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:59:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:59:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:59:22 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 15:59:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:59:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:22 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.407s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:59:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.356[deg] [grasp_sample.py: 596] +05/18 15:59:23 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:59:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:59:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:59:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 15:59:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:59:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:59:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008767m [env.py: 870] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:59:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 137.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.20121598 -0.60509192 0.00876748] yaw=-188.8deg [env.py: 1019] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.21147829 -0.12827768 0.00876748] yaw=-165.8deg [env.py: 1019] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.12440428 -1.0786735 0.00876748] yaw=172.4deg [env.py: 1019] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:59:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.8ms, total=81.8ms [env.py: 1075] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.201, -0.605, 0.009) [env.py: 1079] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.8 deg [env.py: 1082] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:59:25 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 15:59:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 15:59:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:59:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:59:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:26 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.538s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:59:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.508[m] 102.443[deg] [grasp_sample.py: 596] +05/18 15:59:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:59:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:59:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:59:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:00:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:57 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:01:12 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:01:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:01:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:01:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:01:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:01:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.77s (batch: 2.65s, save: 7.12s) [pipeline.py: 300] +05/18 16:01:22 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=2.10s: + episode_total: mean=40.97s, total=286.78s, count=7, min=2203.8ms, max=117587.6ms + sensor_polling: mean=288.8ms, total=215.18s, count=745, min=273.2ms, max=512.4ms + physics_step: mean=14.1ms, total=10.51s, count=745, min=10.8ms, max=19.5ms + save_trajectories: mean=7.12s, total=7.12s, count=1, min=7122.6ms, max=7122.6ms + save_batch_prep: mean=2.65s, total=2.65s, count=1, min=2648.6ms, max=2648.6ms + task_sampling: mean=300.3ms, total=2.10s, count=7, min=262.8ms, max=334.9ms + task_specific_sample: mean=298.1ms, total=2.09s, count=7, min=260.9ms, max=332.1ms + scene_randomize: mean=966.9us, total=6.8ms, count=7, min=0.8ms, max=1.7ms + mj_forward_sync: mean=323.7us, total=2.3ms, count=7, min=0.3ms, max=0.3ms + policy_setup: mean=12.2us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:01:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:01:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:01:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:01:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:01:24 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 16:01:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:01:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086093m [env.py: 870] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:01:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 95.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.14095718 -0.60627837 0.08609292] yaw=-157.5deg [env.py: 1019] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.20351764 -0.70586862 0.08609292] yaw=-185.6deg [env.py: 1019] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:01:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=146.1ms, total=146.1ms [env.py: 1075] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.141, -0.606, 0.086) [env.py: 1079] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg [env.py: 1082] +05/18 16:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/18 16:01:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:01:24 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 16:01:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 16:01:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:01:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:01:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:01:25 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.637s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:01:25 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.525[m] 97.013[deg] [grasp_sample.py: 596] +05/18 16:01:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:01:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:01:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:01:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:02:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:01 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:03:15 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:03:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:03:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:03:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:03:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:03:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.34s (batch: 2.65s, save: 6.68s) [pipeline.py: 300] +05/18 16:03:25 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.34s: + episode_total: mean=120.86s, total=120.86s, count=1, min=120863.3ms, max=120863.3ms + sensor_polling: mean=287.3ms, total=86.18s, count=300, min=276.0ms, max=482.1ms + save_trajectories: mean=6.68s, total=6.68s, count=1, min=6681.9ms, max=6681.9ms + physics_step: mean=14.6ms, total=4.37s, count=300, min=10.9ms, max=31.3ms + save_batch_prep: mean=2.65s, total=2.65s, count=1, min=2653.9ms, max=2653.9ms + task_sampling: mean=338.2ms, total=338.2ms, count=1, min=338.2ms, max=338.2ms + task_specific_sample: mean=335.5ms, total=335.5ms, count=1, min=335.5ms, max=335.5ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=337.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.8us, 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 16:03:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:03:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:03:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:03:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.058m, effective arm-mount z=0.802m (base_body_z=-0.058m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.058429m [env.py: 870] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 136.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 141.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.40258317 0.07696301 -0.05842852] yaw=-116.7deg [env.py: 1019] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.25714873 0.11600427 -0.05842852] yaw=-124.2deg [env.py: 1019] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.3ms, total=142.4ms [env.py: 1075] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.403, 0.077, -0.058) [env.py: 1079] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.7 deg [env.py: 1082] +05/18 16:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.158m [env.py: 1086] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:26 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:28 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.955s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:03:28 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:03:28 WARNING: [Worker 0] Asset Fridge_m (hash: c5ee371e5ee9c94dd64f357b5ff4cf8f) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 16:03:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:03:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:03:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:03:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:03:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:03:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049970m [env.py: 870] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:03:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1851993 -1.20651503 0.04996971] yaw=163.1deg [env.py: 1019] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22127585 -0.99634943 0.04996971] yaw=173.9deg [env.py: 1019] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15422631 -0.82635796 0.04996971] yaw=-189.4deg [env.py: 1019] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:03:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=54.5ms, total=54.5ms [env.py: 1075] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.185, -1.207, 0.050) [env.py: 1079] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg [env.py: 1082] +05/18 16:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:03:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:03:30 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:03:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:03:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:03:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:03:31 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.708s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:03:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.632[m] 123.208[deg] [grasp_sample.py: 596] +05/18 16:03:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:03:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:03:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:04:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:04:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:05:12 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:05:26 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:05:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:05:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:05:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:05:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:05:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.76s (batch: 2.64s, save: 7.12s) [pipeline.py: 300] +05/18 16:05:36 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.56s: + episode_total: mean=64.53s, total=129.05s, count=2, min=2405.2ms, max=126649.3ms + sensor_polling: mean=288.2ms, total=86.46s, count=300, min=274.7ms, max=539.6ms + save_trajectories: mean=7.12s, total=7.12s, count=1, min=7119.7ms, max=7119.7ms + physics_step: mean=14.4ms, total=4.32s, count=300, min=10.9ms, max=30.6ms + save_batch_prep: mean=2.64s, total=2.64s, count=1, min=2635.8ms, max=2635.8ms + task_sampling: mean=279.5ms, total=558.9ms, count=2, min=225.6ms, max=333.3ms + task_specific_sample: mean=277.1ms, total=554.2ms, count=2, min=223.5ms, max=330.7ms + scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=0.8ms, max=1.7ms + mj_forward_sync: mean=325.5us, total=0.7ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=11.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:05:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:05:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:05:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:05:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044239m [env.py: 870] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02277704 -0.56371067 -0.04423917] yaw=-191.2deg [env.py: 1019] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.2321874 -1.07940786 -0.04423917] yaw=183.2deg [env.py: 1019] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.06654773 -1.23945324 -0.04423917] yaw=152.7deg [env.py: 1019] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.9ms, total=127.9ms [env.py: 1075] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.023, -0.564, -0.044) [env.py: 1079] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -191.2 deg [env.py: 1082] +05/18 16:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/18 16:05:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:38 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:40 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.860s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:05:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.656[m] 39.746[deg] [grasp_sample.py: 596] +05/18 16:05:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:05:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:05:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:06:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:12 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:07:26 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:07:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:07:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:07:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:07:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:07:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.92s (batch: 2.66s, save: 7.26s) [pipeline.py: 300] +05/18 16:07:37 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.32s: + episode_total: mean=119.04s, total=119.04s, count=1, min=119038.6ms, max=119038.6ms + sensor_polling: mean=286.9ms, total=86.08s, count=300, min=272.6ms, max=498.2ms + save_trajectories: mean=7.26s, total=7.26s, count=1, min=7262.7ms, max=7262.7ms + physics_step: mean=13.7ms, total=4.12s, count=300, min=10.9ms, max=17.4ms + save_batch_prep: mean=2.66s, total=2.66s, count=1, min=2655.9ms, max=2655.9ms + task_sampling: mean=323.9ms, total=323.9ms, count=1, min=323.9ms, max=323.9ms + task_specific_sample: mean=321.1ms, total=321.1ms, count=1, min=321.1ms, max=321.1ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=331.5us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:07:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:07:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:07:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035913m [env.py: 870] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.09188295 -1.24218253 0.03591272] yaw=141.6deg [env.py: 1019] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06354287 -1.03464885 0.03591272] yaw=173.0deg [env.py: 1019] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.16434488 -0.29480503 0.03591272] yaw=-142.4deg [env.py: 1019] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.2ms, total=113.2ms [env.py: 1075] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.092, -1.242, 0.036) [env.py: 1079] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 141.6 deg [env.py: 1082] +05/18 16:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/18 16:07:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:38 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:39 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 16:07:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:40 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.857s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:07:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.664[m] 91.161[deg] [grasp_sample.py: 596] +05/18 16:07:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:07:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:07:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:08:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:08:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:16 INFO: [Worker 0] Worker 0 house 1 episode 18 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:09:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:09:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:09:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:09:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:09:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:09:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.67s (batch: 2.83s, save: 6.84s) [pipeline.py: 300] +05/18 16:09:40 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.30s: + episode_total: mean=122.28s, total=122.28s, count=1, min=122278.4ms, max=122278.4ms + sensor_polling: mean=287.7ms, total=86.30s, count=300, min=273.7ms, max=546.8ms + save_trajectories: mean=6.84s, total=6.84s, count=1, min=6838.5ms, max=6838.5ms + physics_step: mean=14.5ms, total=4.36s, count=300, min=10.9ms, max=18.5ms + save_batch_prep: mean=2.83s, total=2.83s, count=1, min=2834.9ms, max=2834.9ms + task_sampling: mean=304.6ms, total=304.6ms, count=1, min=304.6ms, max=304.6ms + task_specific_sample: mean=302.0ms, total=302.0ms, count=1, min=302.0ms, max=302.0ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=330.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:09:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:09:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:09:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:09:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:09:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:09:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076885m [env.py: 870] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:09:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04697733 -0.25630342 0.07688485] yaw=-171.3deg [env.py: 1019] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.09011379 -1.02201022 0.07688485] yaw=181.8deg [env.py: 1019] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:09:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.2ms, total=144.2ms [env.py: 1075] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.047, -0.256, 0.077) [env.py: 1079] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.3 deg [env.py: 1082] +05/18 16:09:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.276m [env.py: 1086] +05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:09:42 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:09:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/18 16:09:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:44 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.833s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:09:44 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:09:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:09:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:09:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:09:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:46 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:09:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:09:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:09:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070921m [env.py: 870] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:09:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 141.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00253783 -1.10715329 0.07092089] yaw=188.5deg [env.py: 1019] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.33651047 -0.41175891 0.07092089] yaw=-157.4deg [env.py: 1019] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:09:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.8ms, total=138.9ms [env.py: 1075] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.003, -1.107, 0.071) [env.py: 1079] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.5 deg [env.py: 1082] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:09:46 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:09:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 16:09:46 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 16:09:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:47 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.456s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:09:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.720[m] 91.258[deg] [grasp_sample.py: 596] +05/18 16:09:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:09:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:09:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:10:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:10:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:19 INFO: [Worker 0] Worker 0 house 1 episode 20 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:11:34 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:11:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:11:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:11:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:11:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:11:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.39s (batch: 2.64s, save: 6.75s) [pipeline.py: 300] +05/18 16:11:43 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.65s: + episode_total: mean=60.08s, total=120.16s, count=2, min=2299.3ms, max=117858.3ms + sensor_polling: mean=285.5ms, total=85.64s, count=300, min=271.6ms, max=506.5ms + save_trajectories: mean=6.75s, total=6.75s, count=1, min=6751.8ms, max=6751.8ms + physics_step: mean=13.6ms, total=4.08s, count=300, min=10.8ms, max=28.0ms + save_batch_prep: mean=2.64s, total=2.64s, count=1, min=2638.6ms, max=2638.6ms + task_sampling: mean=325.1ms, total=650.2ms, count=2, min=312.1ms, max=338.1ms + task_specific_sample: mean=322.2ms, total=644.4ms, count=2, min=309.9ms, max=334.6ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=0.8ms, max=2.5ms + mj_forward_sync: mean=326.3us, total=0.7ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=14.1us, 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 16:11:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:11:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:11:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:11:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:11:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:11:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.021m, effective arm-mount z=0.839m (base_body_z=-0.021m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.021169m [env.py: 870] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:11:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 150.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.40198144 -0.34321759 -0.02116863] yaw=-140.5deg [env.py: 1019] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09282188 -0.47157848 -0.02116863] yaw=-147.8deg [env.py: 1019] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.0950405 -1.23209816 -0.02116863] yaw=184.7deg [env.py: 1019] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:11:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.3ms, total=122.3ms [env.py: 1075] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.402, -0.343, -0.021) [env.py: 1079] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.5 deg [env.py: 1082] +05/18 16:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/18 16:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:11:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:11:45 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:11:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 16:11:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:11:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:46 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.692s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:11:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 68.225[deg] [grasp_sample.py: 596] +05/18 16:11:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:11:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:11:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:12:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:18 INFO: [Worker 0] Worker 0 house 1 episode 21 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:13:33 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:13:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:13:33 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:13:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:13:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:13:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 10.01s (batch: 2.68s, save: 7.33s) [pipeline.py: 300] +05/18 16:13:44 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.31s: + episode_total: mean=119.13s, total=119.13s, count=1, min=119125.9ms, max=119125.9ms + sensor_polling: mean=288.4ms, total=86.51s, count=300, min=276.1ms, max=540.0ms + save_trajectories: mean=7.33s, total=7.33s, count=1, min=7328.1ms, max=7328.1ms + physics_step: mean=13.7ms, total=4.10s, count=300, min=10.9ms, max=18.1ms + save_batch_prep: mean=2.68s, total=2.68s, count=1, min=2682.8ms, max=2682.8ms + task_sampling: mean=309.7ms, total=309.7ms, count=1, min=309.7ms, max=309.7ms + task_specific_sample: mean=307.2ms, total=307.2ms, count=1, min=307.2ms, max=307.2ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=330.5us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:13:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:13:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:13:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:13:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064887m [env.py: 870] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10560258 -0.32877807 -0.06488691] yaw=-181.1deg [env.py: 1019] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.33215517 -0.30823322 -0.06488691] yaw=-168.3deg [env.py: 1019] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.7ms [env.py: 1075] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.106, -0.329, -0.065) [env.py: 1079] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.1 deg [env.py: 1082] +05/18 16:13:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.296m [env.py: 1086] +05/18 16:13:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:46 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:46 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 16:13:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:48 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.895s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:13:48 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:13:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:13:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:13:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:13:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039696m [env.py: 870] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.53057365 -0.10180943 -0.03969589] yaw=-103.4deg [env.py: 1019] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 149.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.05138868 -1.34519611 -0.03969589] yaw=157.8deg [env.py: 1019] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.13289389 -0.47599733 -0.03969589] yaw=-166.7deg [env.py: 1019] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.5ms, total=118.5ms [env.py: 1075] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.531, -0.102, -0.040) [env.py: 1079] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.4 deg [env.py: 1082] +05/18 16:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/18 16:13:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:49 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:13:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:52 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.869s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:13:52 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.393[m] 62.026[deg] [grasp_sample.py: 596] +05/18 16:13:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:13:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:13:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:14:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:14:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:14:58 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 16:14:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:00 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.845s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:00 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:15:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:15:01 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 16:15:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.050m, effective arm-mount z=0.810m (base_body_z=-0.050m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049552m [env.py: 870] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 141.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.2352195 -0.61046131 -0.04955227] yaw=-155.1deg [env.py: 1019] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.20892928 -0.49564135 -0.04955227] yaw=-136.8deg [env.py: 1019] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.0ms, total=140.0ms [env.py: 1075] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.235, -0.610, -0.050) [env.py: 1079] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg [env.py: 1082] +05/18 16:15:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/18 16:15:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:02 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:02 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.490s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:15:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.507[m] 116.753[deg] [grasp_sample.py: 596] +05/18 16:15:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:15:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:15:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:03 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 16:15:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:15:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:47 INFO: [Worker 0] Worker 0 house 1 episode 24 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:17:01 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:17:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:17:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:17:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:17:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:17:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.54s (batch: 2.77s, save: 6.77s) [pipeline.py: 300] +05/18 16:17:11 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.95s: + episode_total: mean=67.80s, total=203.39s, count=3, min=2340.3ms, max=130122.8ms + sensor_polling: mean=288.4ms, total=142.48s, count=494, min=273.5ms, max=520.6ms + physics_step: mean=14.2ms, total=7.00s, count=494, min=10.9ms, max=17.0ms + save_trajectories: mean=6.77s, total=6.77s, count=1, min=6768.4ms, max=6768.4ms + save_batch_prep: mean=2.77s, total=2.77s, count=1, min=2772.8ms, max=2772.8ms + task_sampling: mean=318.2ms, total=954.7ms, count=3, min=293.1ms, max=336.4ms + task_specific_sample: mean=315.8ms, total=947.3ms, count=3, min=290.8ms, max=333.2ms + scene_randomize: mean=1.3ms, total=3.9ms, count=3, min=0.8ms, max=2.2ms + mj_forward_sync: mean=319.1us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=11.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:17:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:17:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:17:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.062m, effective arm-mount z=0.798m (base_body_z=-0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.061690m [env.py: 870] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.21993331 -0.7383921 -0.06168985] yaw=-196.3deg [env.py: 1019] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07633113 -0.39446496 -0.06168985] yaw=-163.4deg [env.py: 1019] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.9ms, total=142.9ms [env.py: 1075] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.220, -0.738, -0.062) [env.py: 1079] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -196.3 deg [env.py: 1082] +05/18 16:17:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/18 16:17:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:13 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:13 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 16:17:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:14 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.422s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.515[m] 119.527[deg] [grasp_sample.py: 596] +05/18 16:17:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:17:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:17:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:17:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:17:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:46 INFO: [Worker 0] Worker 0 house 1 episode 25 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:19:01 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:19:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:19:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:19:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:19:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:19:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.82s (batch: 2.70s, save: 7.12s) [pipeline.py: 300] +05/18 16:19:12 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.33s: + episode_total: mean=118.99s, total=118.99s, count=1, min=118991.3ms, max=118991.3ms + sensor_polling: mean=288.2ms, total=86.47s, count=300, min=277.1ms, max=481.0ms + save_trajectories: mean=7.12s, total=7.12s, count=1, min=7116.2ms, max=7116.2ms + physics_step: mean=14.6ms, total=4.37s, count=300, min=10.9ms, max=18.3ms + save_batch_prep: mean=2.70s, total=2.70s, count=1, min=2700.6ms, max=2700.6ms + task_sampling: mean=333.1ms, total=333.1ms, count=1, min=333.1ms, max=333.1ms + task_specific_sample: mean=330.4ms, total=330.4ms, count=1, min=330.4ms, max=330.4ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=327.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:19:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:19:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:19:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062007m [env.py: 870] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 145.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.26138315 -0.53138023 0.0620069 ] yaw=-185.0deg [env.py: 1019] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.21969687 -0.52487893 0.0620069 ] yaw=-147.2deg [env.py: 1019] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11541705 -0.54733375 0.0620069 ] yaw=-139.3deg [env.py: 1019] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.9ms, total=85.9ms [env.py: 1075] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.261, -0.531, 0.062) [env.py: 1079] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.0 deg [env.py: 1082] +05/18 16:19:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/18 16:19:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:13 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:13 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 16:19:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:14 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.628s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.709[m] 49.940[deg] [grasp_sample.py: 596] +05/18 16:19:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:19:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:20:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:47 INFO: [Worker 0] Worker 0 house 1 episode 26 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:21:02 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:21:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:21:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:21:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:21:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:21:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.58s (batch: 2.69s, save: 6.88s) [pipeline.py: 300] +05/18 16:21:12 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.28s: + episode_total: mean=119.30s, total=119.30s, count=1, min=119295.6ms, max=119295.6ms + sensor_polling: mean=285.5ms, total=85.66s, count=300, min=273.0ms, max=493.1ms + save_trajectories: mean=6.88s, total=6.88s, count=1, min=6882.3ms, max=6882.3ms + physics_step: mean=14.1ms, total=4.23s, count=300, min=10.9ms, max=18.1ms + save_batch_prep: mean=2.69s, total=2.69s, count=1, min=2693.1ms, max=2693.1ms + task_sampling: mean=276.4ms, total=276.4ms, count=1, min=276.4ms, max=276.4ms + task_specific_sample: mean=272.9ms, total=272.9ms, count=1, min=272.9ms, max=272.9ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=342.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=13.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:21:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:21:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:21:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016511m [env.py: 870] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05430184 -1.48120406 0.01651056] yaw=179.2deg [env.py: 1019] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.26914139 -1.27713045 0.01651056] yaw=174.6deg [env.py: 1019] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.0554127 -0.73105233 0.01651056] yaw=-161.8deg [env.py: 1019] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.6ms, total=83.7ms [env.py: 1075] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.054, -1.481, 0.017) [env.py: 1079] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.2 deg [env.py: 1082] +05/18 16:21:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.285m [env.py: 1086] +05/18 16:21:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:14 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:16 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.815s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:21:16 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:21:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:21:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:21:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:17 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 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042778m [env.py: 870] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.07570098 -0.57408511 0.04277849] yaw=-147.6deg [env.py: 1019] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.14987917 -0.0238529 0.04277849] yaw=-130.0deg [env.py: 1019] +05/18 16:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.5ms, total=138.5ms [env.py: 1075] +05/18 16:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.076, -0.574, 0.043) [env.py: 1079] +05/18 16:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.6 deg [env.py: 1082] +05/18 16:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.187m [env.py: 1086] +05/18 16:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:18 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:20 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.838s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:21:20 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:21:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:21:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:21 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:21:21 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 16:21:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079312m [env.py: 870] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13144213 -0.77095413 0.07931237] yaw=-174.3deg [env.py: 1019] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=135.3ms, total=135.3ms [env.py: 1075] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.131, -0.771, 0.079) [env.py: 1079] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.3 deg [env.py: 1082] +05/18 16:21:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/18 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:21 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:22 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.709s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:21:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.503[m] 80.404[deg] [grasp_sample.py: 596] +05/18 16:21:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:21:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:21:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:21:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:22:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:02 INFO: [Worker 0] Worker 0 house 1 episode 29 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:23:17 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:23:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:23:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:23:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:23:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:23:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.66s (batch: 2.79s, save: 6.86s) [pipeline.py: 300] +05/18 16:23:27 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.90s: + episode_total: mean=43.40s, total=130.20s, count=3, min=2183.2ms, max=125768.5ms + sensor_polling: mean=291.4ms, total=87.42s, count=300, min=276.2ms, max=516.0ms + save_trajectories: mean=6.86s, total=6.86s, count=1, min=6863.3ms, max=6863.3ms + physics_step: mean=13.7ms, total=4.10s, count=300, min=10.8ms, max=19.0ms + save_batch_prep: mean=2.79s, total=2.79s, count=1, min=2794.6ms, max=2794.6ms + task_sampling: mean=298.7ms, total=896.2ms, count=3, min=274.5ms, max=315.9ms + task_specific_sample: mean=295.7ms, total=887.0ms, count=3, min=272.0ms, max=311.1ms + scene_randomize: mean=1.4ms, total=4.1ms, count=3, min=0.8ms, max=1.8ms + mj_forward_sync: mean=326.0us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=12.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:23:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:23:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:23:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:23:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:23:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:23:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:23:28 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 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058561m [env.py: 870] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:23:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.27748014 -1.26282853 0.05856086] yaw=147.2deg [env.py: 1019] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.0496168 -0.6017038 0.05856086] yaw=-139.7deg [env.py: 1019] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.10214837 -0.5017727 0.05856086] yaw=-182.4deg [env.py: 1019] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:23:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.4ms, total=123.4ms [env.py: 1075] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.277, -1.263, 0.059) [env.py: 1079] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.2 deg [env.py: 1082] +05/18 16:23:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/18 16:23:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:23:29 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 16:23:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 16:23:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:23:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:29 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.682s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:23:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.560[m] 72.830[deg] [grasp_sample.py: 596] +05/18 16:23:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:23:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:23:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:24:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:24:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:24:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +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 0.041s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.339s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.813[deg] [grasp_sample.py: 596] +05/18 16:24:55 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:24:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:24:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:24:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:57 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 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018970m [env.py: 870] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.30226196 -0.48770849 0.01896969] yaw=-165.9deg [env.py: 1019] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.0630905 -0.54493435 0.01896969] yaw=-188.8deg [env.py: 1019] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 133.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.09688396 -1.17573748 0.01896969] yaw=184.6deg [env.py: 1019] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.1ms, total=114.1ms [env.py: 1075] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.302, -0.488, 0.019) [env.py: 1079] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg [env.py: 1082] +05/18 16:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 16:24:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:57 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:57 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 16:24:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:58 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.579s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.559[m] 65.920[deg] [grasp_sample.py: 596] +05/18 16:24:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:24:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:24:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:58 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 16:25:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:25:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:31 INFO: [Worker 0] Worker 0 house 1 episode 31 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:26:45 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:26:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:26:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:26:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:26:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:26:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.72s (batch: 2.69s, save: 7.03s) [pipeline.py: 300] +05/18 16:26:56 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.62s: + episode_total: mean=102.94s, total=205.88s, count=2, min=87017.6ms, max=118865.4ms + sensor_polling: mean=292.6ms, total=160.35s, count=548, min=273.5ms, max=552.8ms + physics_step: mean=14.2ms, total=7.77s, count=548, min=10.9ms, max=32.2ms + save_trajectories: mean=7.03s, total=7.03s, count=1, min=7033.3ms, max=7033.3ms + save_batch_prep: mean=2.69s, total=2.69s, count=1, min=2689.7ms, max=2689.7ms + task_sampling: mean=308.7ms, total=617.4ms, count=2, min=296.7ms, max=320.7ms + task_specific_sample: mean=305.6ms, total=611.2ms, count=2, min=294.2ms, max=316.9ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.0ms, max=2.7ms + mj_forward_sync: mean=334.9us, total=0.7ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=12.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:26:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:26:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:26:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:26:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:26:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:26:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:26:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022727m [env.py: 870] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:26:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 139.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.15619898 -0.62102103 0.02272722] yaw=-186.5deg [env.py: 1019] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.10125481 -0.75792439 0.02272722] yaw=-163.4deg [env.py: 1019] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.05189285 -0.25121508 0.02272722] yaw=-151.1deg [env.py: 1019] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:26:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.2ms, total=147.2ms [env.py: 1075] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -0.621, 0.023) [env.py: 1079] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.5 deg [env.py: 1082] +05/18 16:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.255m [env.py: 1086] +05/18 16:26:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:26:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:26:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:26:57 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 16:26:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 16:26:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:26:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:26:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:26:59 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.834s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:26:59 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:27:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:27:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:27:01 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 16:27:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:01 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 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.006764m [env.py: 870] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15801951 -0.03756614 -0.00676446] yaw=-124.8deg [env.py: 1019] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14395495 -0.52887615 -0.00676446] yaw=-158.3deg [env.py: 1019] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 145.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.13742831 -0.77043573 -0.00676446] yaw=-169.0deg [env.py: 1019] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.5ms, total=115.5ms [env.py: 1075] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.158, -0.038, -0.007) [env.py: 1079] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.8 deg [env.py: 1082] +05/18 16:27:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.235m [env.py: 1086] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:01 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:01 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 16:27:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:03 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.840s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:27:03 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:27:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:27:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:27:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:27:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003777m [env.py: 870] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03753262 -1.0212325 0.00377696] yaw=167.5deg [env.py: 1019] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.02021928 -0.52381473 0.00377696] yaw=-163.2deg [env.py: 1019] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.5ms [env.py: 1075] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.038, -1.021, 0.004) [env.py: 1079] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.5 deg [env.py: 1082] +05/18 16:27:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.123m [env.py: 1086] +05/18 16:27:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:05 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:07 INFO: [Worker 0] Feasibility-checked 86 grasps in 2.672s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:07 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.628[m] 89.204[deg] [grasp_sample.py: 596] +05/18 16:27:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:27:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:27:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:08 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 16:27:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:27:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:40 INFO: [Worker 0] Worker 0 house 1 episode 34 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:28:54 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:28:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:28:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:29:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:29:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:29:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.34s (batch: 2.44s, save: 6.90s) [pipeline.py: 300] +05/18 16:29:04 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.93s: + episode_total: mean=41.31s, total=123.93s, count=3, min=2216.0ms, max=119434.7ms + sensor_polling: mean=288.5ms, total=86.56s, count=300, min=275.7ms, max=490.0ms + save_trajectories: mean=6.90s, total=6.90s, count=1, min=6896.3ms, max=6896.3ms + physics_step: mean=14.4ms, total=4.33s, count=300, min=10.9ms, max=17.8ms + save_batch_prep: mean=2.44s, total=2.44s, count=1, min=2440.1ms, max=2440.1ms + task_sampling: mean=311.4ms, total=934.3ms, count=3, min=286.2ms, max=340.7ms + task_specific_sample: mean=308.9ms, total=926.7ms, count=3, min=284.1ms, max=337.1ms + scene_randomize: mean=1.4ms, total=4.2ms, count=3, min=0.8ms, max=2.6ms + mj_forward_sync: mean=320.2us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=11.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:29:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:29:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:29:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:29:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:05 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:29:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:29:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:29:05 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 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045418m [env.py: 870] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:29:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.0717976 -0.44731116 -0.04541806] yaw=-131.4deg [env.py: 1019] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.1690972 -0.74525626 -0.04541806] yaw=-191.6deg [env.py: 1019] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.12438913 -0.90559476 -0.04541806] yaw=176.2deg [env.py: 1019] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:29:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.7ms, total=120.8ms [env.py: 1075] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.072, -0.447, -0.045) [env.py: 1079] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.4 deg [env.py: 1082] +05/18 16:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/18 16:29:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:29:05 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 16:29:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 16:29:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:29:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:29:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:29:09 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.461s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:29:09 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.814[m] 118.503[deg] [grasp_sample.py: 596] +05/18 16:29:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:29:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:29:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:30:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:40 INFO: [Worker 0] Worker 0 house 1 episode 35 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:30:40 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=False episode_total=0.31s: + episode_total: mean=95.00s, total=95.00s, count=1, min=95003.9ms, max=95003.9ms + sensor_polling: mean=284.6ms, total=85.38s, count=300, min=271.7ms, max=540.8ms + physics_step: mean=13.3ms, total=3.99s, count=300, min=11.0ms, max=28.3ms + task_sampling: mean=310.6ms, total=310.6ms, count=1, min=310.6ms, max=310.6ms + task_specific_sample: mean=307.4ms, total=307.4ms, count=1, min=307.4ms, max=307.4ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=332.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=13.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:30:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:30:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:30:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:30:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:30:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:30:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:30:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048153m [env.py: 870] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:30:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12452393 -0.74518044 -0.04815339] yaw=-190.4deg [env.py: 1019] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.13087016 -0.49930267 -0.04815339] yaw=-156.7deg [env.py: 1019] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.16758789 -0.03046572 -0.04815339] yaw=-165.2deg [env.py: 1019] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:30:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.4ms, total=136.4ms [env.py: 1075] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.125, -0.745, -0.048) [env.py: 1079] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.4 deg [env.py: 1082] +05/18 16:30:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/18 16:30:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:30:42 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 16:30:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:30:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:42 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.476s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.556[m] 103.074[deg] [grasp_sample.py: 596] +05/18 16:30:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:43 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 16:31:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:31:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:15 INFO: [Worker 0] Worker 0 house 1 episode 36 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:32:30 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 16:32:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:32:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:32:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:32:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 16:32:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 10.00s (batch: 2.84s, save: 7.16s) [pipeline.py: 300] +05/18 16:32:40 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.32s: + episode_total: mean=118.72s, total=118.72s, count=1, min=118718.5ms, max=118718.5ms + sensor_polling: mean=289.0ms, total=86.69s, count=300, min=275.7ms, max=534.9ms + save_trajectories: mean=7.16s, total=7.16s, count=1, min=7160.4ms, max=7160.4ms + physics_step: mean=13.8ms, total=4.14s, count=300, min=10.9ms, max=20.5ms + save_batch_prep: mean=2.84s, total=2.84s, count=1, min=2843.6ms, max=2843.6ms + task_sampling: mean=315.3ms, total=315.3ms, count=1, min=315.3ms, max=315.3ms + task_specific_sample: mean=312.7ms, total=312.7ms, count=1, min=312.7ms, max=312.7ms + scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms + mj_forward_sync: mean=315.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=12.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:32:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:32:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:32:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:32:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:42 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 16:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095155m [env.py: 870] +05/18 16:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 136.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=137.8ms, total=137.9ms [env.py: 1105] +05/18 16:32:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 302] +05/18 16:32:42 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/18 16:32:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:32:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:43 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:32:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:32:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049411m [env.py: 870] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03448769 -1.33707637 0.04941091] yaw=144.5deg [env.py: 1019] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.17666233 -0.25259929 0.04941091] yaw=-136.7deg [env.py: 1019] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.46909267 -0.07913528 0.04941091] yaw=-113.2deg [env.py: 1019] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.7ms, total=91.8ms [env.py: 1075] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.034, -1.337, 0.049) [env.py: 1079] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.5 deg [env.py: 1082] +05/18 16:32:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.142m [env.py: 1086] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:44 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:45 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.814s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:32:45 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:32:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:32:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:47 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:32:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:32:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.031248m [env.py: 870] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10367002 -0.63743577 -0.03124789] yaw=-193.1deg [env.py: 1019] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.18235872 -1.12626771 -0.03124789] yaw=186.8deg [env.py: 1019] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.55085061 -0.12543432 -0.03124789] yaw=-108.2deg [env.py: 1019] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.9ms, total=91.9ms [env.py: 1075] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.104, -0.637, -0.031) [env.py: 1079] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -193.1 deg [env.py: 1082] +05/18 16:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.200m [env.py: 1086] +05/18 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:47 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:49 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.972s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:32:49 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:32:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 16:32:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:51 WARNING: [Worker 0] No image features for Fridge_m, ignoring. [object_manager.py: 1078] +05/18 16:32:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:32:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.094m, effective arm-mount z=0.766m (base_body_z=-0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.866, 1.306) [env.py: 845] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.094222m [env.py: 870] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23337 free points within sampling radius [env.py: 907] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39862379 -0.27055669 -0.0942225 ] yaw=-124.3deg [env.py: 1019] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.09905554 -0.50949568 -0.0942225 ] yaw=-155.6deg [env.py: 1019] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.11733349 -0.57735493 -0.0942225 ] yaw=-180.1deg [env.py: 1019] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.2ms, total=106.2ms [env.py: 1075] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.399, -0.271, -0.094) [env.py: 1079] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.3 deg [env.py: 1082] +05/18 16:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:51 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:52 INFO: [Worker 0] Feasibility-checked 86 grasps in 0.556s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:32:52 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.687[m] 96.547[deg] [grasp_sample.py: 596] +05/18 16:32:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:32:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:32:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:33:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] diff --git a/fridge_m_2house/sim/house_1/chunk_030/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_1/chunk_030/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..af1faf80ce0c998ea7e33a6589fbc541b4f7a952 --- /dev/null +++ b/fridge_m_2house/sim/house_1/chunk_030/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9fdd5ba179fa7a7e5f90299efeee7d7ab53e229cfd49fd41ecca0ba7e64323d +size 1404596869