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INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:53:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:53:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:53:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:53:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:53:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 02:53:27 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.452s, found feasible grasp: False [grasp_sample.py: 500] +05/11 02:53:27 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 02:53:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:53:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:53:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 11.53s (batch: 3.76s, save: 7.77s) [pipeline.py: 300] +05/11 02:53:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:53:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:53:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:53:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:53:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:53:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:53:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041465m [env.py: 870] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:53:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72908431 0.5880447 0.04146533] yaw=-179.2deg [env.py: 1019] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9561162 1.16206869 0.04146533] yaw=-131.1deg [env.py: 1019] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92749545 0.68286612 0.04146533] yaw=-160.5deg [env.py: 1019] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.5ms, total=147.5ms [env.py: 1075] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.588, 0.041) [env.py: 1079] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.2 deg [env.py: 1082] +05/11 02:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:53:29 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.59s: + episode_total: mean=183.07s, total=183.07s, count=1, min=183069.2ms, max=183069.2ms + sensor_polling: mean=456.5ms, total=136.95s, count=300, min=382.3ms, max=722.6ms + save_trajectories: mean=7.77s, total=7.77s, count=1, min=7769.4ms, max=7769.4ms + physics_step: mean=21.2ms, total=6.35s, count=300, min=16.7ms, max=73.7ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3756.0ms, max=3756.0ms + task_sampling: mean=589.7ms, total=589.7ms, count=1, min=589.7ms, max=589.7ms + task_specific_sample: mean=585.7ms, total=585.7ms, count=1, min=585.7ms, max=585.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=452.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:53:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:53:29 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 02:53:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/11 02:53:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:53:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:53:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:53:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.502s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:53:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.561[m] 97.769[deg] [grasp_sample.py: 539] +05/11 02:53:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:53:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:53:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:53:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:53:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:53:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:53:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:53:31 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: 178] +05/11 02:53:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:53:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075768m [env.py: 870] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:53:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73387825 0.98322963 0.0757682 ] yaw=-158.4deg [env.py: 1019] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:53:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=134.5ms, total=134.5ms [env.py: 1075] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.734, 0.983, 0.076) [env.py: 1079] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg [env.py: 1082] +05/11 02:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:53:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:53:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:53:31 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 02:53:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/11 02:53:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:53:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:53:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:53:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.481s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:53:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.661[m] 84.564[deg] [grasp_sample.py: 539] +05/11 02:53:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:53:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:53:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:53:38 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:54:00 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:54:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 02:54:00 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/11 02:54:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:54:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:54:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:54:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:54:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:54:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:54:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.416s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:54:05 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.427[deg] [grasp_sample.py: 539] +05/11 02:54:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:54:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:54:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:54:12 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:54:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:54:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:54:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.60s (batch: 3.55s, save: 10.05s) [pipeline.py: 300] +05/11 02:54:14 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s: + episode_total: mean=150.30s, total=300.61s, count=2, min=122645.6ms, max=177963.7ms + sensor_polling: mean=452.9ms, total=220.55s, count=487, min=364.9ms, max=760.8ms + physics_step: mean=21.2ms, total=10.31s, count=487, min=14.0ms, max=59.7ms + save_trajectories: mean=10.05s, total=10.05s, count=1, min=10051.7ms, max=10051.7ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3551.0ms, max=3551.0ms + task_sampling: mean=409.5ms, total=819.0ms, count=2, min=367.4ms, max=451.6ms + task_specific_sample: mean=406.1ms, total=812.2ms, count=2, min=364.3ms, max=447.9ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms + mj_forward_sync: mean=382.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:54:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:54:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:54:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:54:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:54:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:54:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:54:16 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: 178] +05/11 02:54:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:54:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052875m [env.py: 870] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:54:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61688734 0.4427823 0.05287452] yaw=174.7deg [env.py: 1019] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94800678 1.2667643 0.05287452] yaw=-136.3deg [env.py: 1019] +05/11 02:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:54:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.9ms [env.py: 1075] +05/11 02:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.617, 0.443, 0.053) [env.py: 1079] +05/11 02:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg [env.py: 1082] +05/11 02:54:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m [env.py: 1086] +05/11 02:54:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:54:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:54:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:54:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:54:17 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 02:54:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/11 02:54:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:54:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:54:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:54:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.110s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:54:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.658[m] 94.759[deg] [grasp_sample.py: 539] +05/11 02:54:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:54:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:54:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:54:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:54:34 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:54:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:54:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:54:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:54:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:54:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:54:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:54:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:54:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:54:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.51s (batch: 4.00s, save: 10.52s) [pipeline.py: 300] +05/11 02:54:50 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.42s: + episode_total: mean=198.70s, total=198.70s, count=1, min=198699.1ms, max=198699.1ms + sensor_polling: mean=469.2ms, total=140.75s, count=300, min=393.2ms, max=718.3ms + save_trajectories: mean=10.52s, total=10.52s, count=1, min=10516.2ms, max=10516.2ms + physics_step: mean=22.3ms, total=6.70s, count=300, min=13.3ms, max=58.0ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3995.6ms, max=3995.6ms + task_sampling: mean=423.7ms, total=423.7ms, count=1, min=423.7ms, max=423.7ms + task_specific_sample: mean=419.9ms, total=419.9ms, count=1, min=419.9ms, max=419.9ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=373.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=28.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:54:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:54:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:54:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:54:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:54:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:54:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:54:51 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: 178] +05/11 02:54:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:54:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099543m [env.py: 870] +05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:54:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79383475 0.79523743 0.09954261] yaw=-172.0deg [env.py: 1019] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98242657 0.93334811 0.09954261] yaw=-156.4deg [env.py: 1019] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79847742 0.80906667 0.09954261] yaw=-159.5deg [env.py: 1019] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:54:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=458.4ms, total=458.4ms [env.py: 1075] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.794, 0.795, 0.100) [env.py: 1079] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg [env.py: 1082] +05/11 02:54:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/11 02:54:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:54:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:54:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:54:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:54:52 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 02:54:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/11 02:54:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:54:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:54:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:54:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:54:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:54:54 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.517[m] 90.895[deg] [grasp_sample.py: 539] +05/11 02:54:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:54:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:54:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:55:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:55:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:55:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:55:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:55:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:55:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:55:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:55:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:55:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:56:00 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:56:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:56:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:56:03 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:56:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:56:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:56:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:56:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:56:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:56:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:56:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.465s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:56:05 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.388[deg] [grasp_sample.py: 539] +05/11 02:56:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:56:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:56:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:56:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:56:24 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:56:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 02:56:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:56:26 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:56:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 02:56:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:56:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:56:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:56:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:56:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:56:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.19s (batch: 4.85s, save: 8.33s) [pipeline.py: 300] +05/11 02:56:38 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.73s: + episode_total: mean=154.55s, total=309.10s, count=2, min=120135.5ms, max=188969.2ms + sensor_polling: mean=462.6ms, total=238.68s, count=516, min=386.5ms, max=917.8ms + physics_step: mean=22.6ms, total=11.68s, count=516, min=17.0ms, max=59.0ms + save_trajectories: mean=8.33s, total=8.33s, count=1, min=8334.2ms, max=8334.2ms + save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4855.0ms, max=4855.0ms + task_sampling: mean=363.6ms, total=727.2ms, count=2, min=329.2ms, max=398.0ms + task_specific_sample: mean=360.3ms, total=720.6ms, count=2, min=325.8ms, max=394.9ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.6ms, max=2.3ms + mj_forward_sync: mean=380.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:56:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:56:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:56:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.97s (batch: 4.16s, save: 8.81s) [pipeline.py: 300] +05/11 02:56:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:56:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:56:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:56:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:56:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:56:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:56:40 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: 256] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008905m [env.py: 870] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:56:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98486534 0.1246059 0.00890527] yaw=156.8deg [env.py: 1019] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9042199 0.65800408 0.00890527] yaw=-175.5deg [env.py: 1019] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7929734 0.33748672 0.00890527] yaw=162.2deg [env.py: 1019] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.4ms, total=214.4ms [env.py: 1075] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.125, 0.009) [env.py: 1079] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.8 deg [env.py: 1082] +05/11 02:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:56:40 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.42s: + episode_total: mean=189.10s, total=189.10s, count=1, min=189100.9ms, max=189100.9ms + sensor_polling: mean=463.6ms, total=139.07s, count=300, min=378.4ms, max=901.7ms + save_trajectories: mean=8.81s, total=8.81s, count=1, min=8811.5ms, max=8811.5ms + physics_step: mean=21.7ms, total=6.50s, count=300, min=16.6ms, max=48.5ms + save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.0ms, max=4158.0ms + task_sampling: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms + task_specific_sample: mean=416.9ms, total=416.9ms, count=1, min=416.9ms, max=416.9ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=525.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:56:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:56:40 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 02:56:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/11 02:56:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:56:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:56:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:56:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:56:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.421[m] 99.411[deg] [grasp_sample.py: 539] +05/11 02:56:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:56:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:56:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:56:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:56:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:56:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:56:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:56:42 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: 178] +05/11 02:56:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:56:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091681m [env.py: 870] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:56:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92975541 1.14701302 0.09168103] yaw=-136.8deg [env.py: 1019] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08287859 1.03911609 0.09168103] yaw=-127.0deg [env.py: 1019] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9467349 0.56959405 0.09168103] yaw=-178.6deg [env.py: 1019] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:56:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=235.3ms, total=235.4ms [env.py: 1075] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 1.147, 0.092) [env.py: 1079] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.8 deg [env.py: 1082] +05/11 02:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:56:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:56:42 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 02:56:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/11 02:56:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:56:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:56:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:56:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.641s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:56:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.579[m] 91.471[deg] [grasp_sample.py: 539] +05/11 02:56:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:56:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:56:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:57:09 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 02:57:09 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.46s: + episode_total: mean=173.17s, total=173.17s, count=1, min=173169.7ms, max=173169.7ms + sensor_polling: mean=491.1ms, total=147.34s, count=300, min=395.7ms, max=1070.7ms + physics_step: mean=22.4ms, total=6.71s, count=300, min=14.9ms, max=110.3ms + task_sampling: mean=460.0ms, total=460.0ms, count=1, min=460.0ms, max=460.0ms + task_specific_sample: mean=456.3ms, total=456.3ms, count=1, min=456.3ms, max=456.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=439.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.8us, 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] +05/11 02:57:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:57:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:57:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:57:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:57:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:57:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:57:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032276m [env.py: 870] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:57:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82739736 0.53924802 0.03227582] yaw=-167.4deg [env.py: 1019] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85671526 0.29915667 0.03227582] yaw=156.4deg [env.py: 1019] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77188782 0.13267965 0.03227582] yaw=170.4deg [env.py: 1019] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:57:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.8ms, total=247.8ms [env.py: 1075] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.539, 0.032) [env.py: 1079] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg [env.py: 1082] +05/11 02:57:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:57:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:57:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:57:12 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 02:57:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/11 02:57:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:57:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:57:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:57:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:57:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 85.622[deg] [grasp_sample.py: 539] +05/11 02:57:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:57:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:57:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:57:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:57:39 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 02:57:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:57:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:57:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:58:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:58:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:58:07 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 02:58:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 02:58:07 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 02:58:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:58:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:58:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:58:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 02:58:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 02:58:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.02s (batch: 4.34s, save: 8.68s) [pipeline.py: 300] +05/11 02:58:21 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.77s: + episode_total: mean=209.21s, total=209.21s, count=1, min=209212.2ms, max=209212.2ms + sensor_polling: mean=511.9ms, total=153.56s, count=300, min=401.6ms, max=1251.8ms + save_trajectories: mean=8.68s, total=8.68s, count=1, min=8679.4ms, max=8679.4ms + physics_step: mean=25.9ms, total=7.78s, count=300, min=16.7ms, max=91.2ms + save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.9ms, max=4336.9ms + task_sampling: mean=771.5ms, total=771.5ms, count=1, min=771.5ms, max=771.5ms + task_specific_sample: mean=767.2ms, total=767.2ms, count=1, min=767.2ms, max=767.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=831.0us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 02:58:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:58:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:58:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:58:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:58:23 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: 178] +05/11 02:58:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:58:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027234m [env.py: 870] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:58:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6527338 0.40810309 0.02723366] yaw=184.5deg [env.py: 1019] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07280929 0.92833791 0.02723366] yaw=-142.1deg [env.py: 1019] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.2032377 1.08133798 0.02723366] yaw=-125.9deg [env.py: 1019] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:58:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.7ms, total=200.8ms [env.py: 1075] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.408, 0.027) [env.py: 1079] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.5 deg [env.py: 1082] +05/11 02:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:58:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:58:23 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3 [pipeline.py: 1044] +05/11 02:58:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/11 02:58:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:58:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:58:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:58:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.643s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:58:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.602[m] 88.174[deg] [grasp_sample.py: 539] +05/11 02:58:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:58:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:58:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:59:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:59:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:59:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:59:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 02:59:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.413s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:59:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.184[deg] [grasp_sample.py: 539] +05/11 02:59:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:59:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:59:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:59:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:59:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:59:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:59:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:59:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:59:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:59:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.703s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:59:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.300[deg] [grasp_sample.py: 539] +05/11 02:59:34 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 02:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 02:59:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 02:59:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 02:59:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:59:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 02:59:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 02:59:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 02:59:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015805m [env.py: 870] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 02:59:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01422068 1.17127059 0.01580467] yaw=-133.4deg [env.py: 1019] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88406195 1.17046951 0.01580467] yaw=-144.7deg [env.py: 1019] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81610975 0.68740432 0.01580467] yaw=-160.4deg [env.py: 1019] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 02:59:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.4ms, total=229.5ms [env.py: 1075] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.014, 1.171, 0.016) [env.py: 1079] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg [env.py: 1082] +05/11 02:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 02:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 02:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 02:59:36 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 02:59:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/11 02:59:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:59:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:59:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 02:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.292s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:59:40 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.618[m] 96.443[deg] [grasp_sample.py: 539] +05/11 02:59:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:59:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:59:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:59:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 02:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 02:59:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 02:59:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 02:59:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 02:59:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 02:59:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 02:59:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.046s, found feasible grasp: True [grasp_sample.py: 500] +05/11 02:59:52 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.927[deg] [grasp_sample.py: 539] +05/11 02:59:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 02:59:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 02:59:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:59:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 02:59:58 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:00:02 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:00:27 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:00:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:00:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:00:31 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:00:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 03:00:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:00:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:00:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:00:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.73s (batch: 4.53s, save: 8.20s) [pipeline.py: 300] +05/11 03:00:40 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s: + episode_total: mean=208.73s, total=208.73s, count=1, min=208726.2ms, max=208726.2ms + sensor_polling: mean=515.1ms, total=154.54s, count=300, min=438.0ms, max=908.4ms + save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.0ms, max=8195.0ms + physics_step: mean=24.0ms, total=7.19s, count=300, min=18.0ms, max=58.6ms + save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4530.5ms, max=4530.5ms + task_sampling: mean=506.4ms, total=506.4ms, count=1, min=506.4ms, max=506.4ms + task_specific_sample: mean=502.5ms, total=502.5ms, count=1, min=502.5ms, max=502.5ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=531.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:00:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:00:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:00:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:00:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:00:42 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: 178] +05/11 03:00:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:00:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003110m [env.py: 870] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:00:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94693642 0.56150217 0.00310969] yaw=-173.2deg [env.py: 1019] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82445238 0.91273533 0.00310969] yaw=-147.4deg [env.py: 1019] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:00:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=393.4ms, total=393.4ms [env.py: 1075] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.562, 0.003) [env.py: 1079] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg [env.py: 1082] +05/11 03:00:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m [env.py: 1086] +05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:00:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:00:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:00:42 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 03:00:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s [base_object_manipulation_planner_policy.py: 377] +05/11 03:00:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:00:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:00:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:00:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:00:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.305[m] 87.262[deg] [grasp_sample.py: 539] +05/11 03:00:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:00:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:00:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:00:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.67s (batch: 4.20s, save: 9.46s) [pipeline.py: 300] +05/11 03:00:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:00:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:00:45 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.56s: + episode_total: mean=245.53s, total=245.53s, count=1, min=245529.6ms, max=245529.6ms + sensor_polling: mean=532.6ms, total=159.79s, count=300, min=454.2ms, max=973.2ms + save_trajectories: mean=9.46s, total=9.46s, count=1, min=9462.3ms, max=9462.3ms + physics_step: mean=25.6ms, total=7.69s, count=300, min=17.0ms, max=83.5ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4204.9ms, max=4204.9ms + task_sampling: mean=564.8ms, total=564.8ms, count=1, min=564.8ms, max=564.8ms + task_specific_sample: mean=560.9ms, total=560.9ms, count=1, min=560.9ms, max=560.9ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=421.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:00:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:00:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:00:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:00:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:00:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:00:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:00:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:00:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:00:47 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: 178] +05/11 03:00:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:00:47 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: 256] +05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094541m [env.py: 870] +05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:00:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74920444 0.85812935 0.09454065] yaw=-149.9deg [env.py: 1019] +05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:00:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91062264 1.05030486 0.09454065] yaw=-146.2deg [env.py: 1019] +05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:00:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.4ms, total=286.5ms [env.py: 1075] +05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.858, 0.095) [env.py: 1079] +05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg [env.py: 1082] +05/11 03:00:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/11 03:00:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:00:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:00:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:00:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:00:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:00:48 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 03:00:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.187s [base_object_manipulation_planner_policy.py: 377] +05/11 03:00:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:00:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:00:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:00:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.315s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:00:54 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.655[m] 96.973[deg] [grasp_sample.py: 539] +05/11 03:00:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:00:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:00:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:00:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:01:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:01:09 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:01:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:01:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:01:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:01:37 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:01:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:01:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:01:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:01:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:01:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.02s (batch: 4.68s, save: 8.35s) [pipeline.py: 300] +05/11 03:01:51 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s: + episode_total: mean=208.54s, total=208.54s, count=1, min=208540.0ms, max=208540.0ms + sensor_polling: mean=514.6ms, total=154.38s, count=300, min=430.0ms, max=1086.4ms + save_trajectories: mean=8.35s, total=8.35s, count=1, min=8345.4ms, max=8345.4ms + physics_step: mean=24.2ms, total=7.25s, count=300, min=18.6ms, max=82.8ms + save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.8ms, max=4677.8ms + task_sampling: mean=510.2ms, total=510.2ms, count=1, min=510.2ms, max=510.2ms + task_specific_sample: mean=505.8ms, total=505.8ms, count=1, min=505.8ms, max=505.8ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=669.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:01:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:01:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:01:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:01:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:01:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:01:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:01:53 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: 256] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084366m [env.py: 870] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:01:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.60560778 0.509178 0.08436632] yaw=-183.3deg [env.py: 1019] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74689134 0.17667097 0.08436632] yaw=171.8deg [env.py: 1019] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81463441 0.42339861 0.08436632] yaw=185.8deg [env.py: 1019] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:01:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=409.4ms, total=409.4ms [env.py: 1075] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.606, 0.509, 0.084) [env.py: 1079] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.3 deg [env.py: 1082] +05/11 03:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:01:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:01:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:01:53 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3 [pipeline.py: 1044] +05/11 03:01:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s [base_object_manipulation_planner_policy.py: 377] +05/11 03:01:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:01:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:01:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.166s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:01:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.315s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:01:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.672[m] 93.667[deg] [grasp_sample.py: 539] +05/11 03:01:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:01:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:01:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:01:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:02:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:02:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:02:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:02:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:02:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:02:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:02:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:02:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:02:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:02:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 03:02:12 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.615s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:02:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.106[m] 0.882[deg] [grasp_sample.py: 539] +05/11 03:02:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:02:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:02:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:02:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:02:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:02:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:02:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:02:36 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 03:02:36 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=1.08s: + episode_total: mean=175.97s, total=351.94s, count=2, min=172258.0ms, max=179678.0ms + sensor_polling: mean=518.8ms, total=298.30s, count=575, min=424.6ms, max=1022.0ms + physics_step: mean=25.0ms, total=14.37s, count=575, min=17.8ms, max=105.4ms + task_sampling: mean=540.4ms, total=1.08s, count=2, min=487.4ms, max=593.4ms + task_specific_sample: mean=536.2ms, total=1.07s, count=2, min=484.2ms, max=588.3ms + scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=1.3ms, max=3.5ms + mj_forward_sync: mean=526.7us, total=1.1ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=17.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:02:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:02:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:02:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:02:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:02:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:02:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:02:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:02:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:02:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005910m [env.py: 870] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:02:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92339016 0.82842172 0.00591015] yaw=-147.0deg [env.py: 1019] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61444264 0.47013764 0.00591015] yaw=175.2deg [env.py: 1019] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:02:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.7ms, total=188.7ms [env.py: 1075] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.923, 0.828, 0.006) [env.py: 1079] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.0 deg [env.py: 1082] +05/11 03:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/11 03:02:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:02:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:02:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:02:38 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 03:02:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/11 03:02:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:02:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:02:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:02:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:02:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.387[m] 83.799[deg] [grasp_sample.py: 539] +05/11 03:02:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:02:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:02:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:02:51 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/11 03:02:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:02:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:02:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:02:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 03:02:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.426s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:02:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.556[deg] [grasp_sample.py: 539] +05/11 03:02:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:02:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:02:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:03:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:03:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:03:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:03:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:03:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:03:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:03:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:03:24 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:03:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:03:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:03:38 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 03:03:38 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=False episode_total=0.68s: + episode_total: mean=170.32s, total=170.32s, count=1, min=170320.4ms, max=170320.4ms + sensor_polling: mean=506.8ms, total=152.04s, count=300, min=438.9ms, max=1051.4ms + physics_step: mean=25.1ms, total=7.53s, count=300, min=18.1ms, max=94.2ms + task_sampling: mean=682.4ms, total=682.4ms, count=1, min=682.4ms, max=682.4ms + task_specific_sample: mean=674.1ms, total=674.1ms, count=1, min=674.1ms, max=674.1ms + mj_forward_sync: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + policy_setup: mean=19.3us, 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] +05/11 03:03:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:03:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:03:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:03:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:03:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:03:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:03:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:03:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:03:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:03:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017881m [env.py: 870] +05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:03:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:03:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92484502 0.52670293 0.01788072] yaw=-186.1deg [env.py: 1019] +05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15183148 1.14745023 0.01788072] yaw=-119.1deg [env.py: 1019] +05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76158424 0.47126797 0.01788072] yaw=178.1deg [env.py: 1019] +05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:03:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.0ms, total=254.0ms [env.py: 1075] +05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.527, 0.018) [env.py: 1079] +05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -186.1 deg [env.py: 1082] +05/11 03:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m [env.py: 1086] +05/11 03:03:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:03:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:03:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:03:40 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 03:03:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/11 03:03:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:03:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:03:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:03:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:03:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.339[m] 88.616[deg] [grasp_sample.py: 539] +05/11 03:03:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:03:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:03:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:03:51 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:03:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:03:51 INFO: [Worker 0] Preparing episode data: 282 timesteps [save_utils.py: 278] +05/11 03:04:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:04:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:04:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.43s (batch: 4.59s, save: 9.85s) [pipeline.py: 300] +05/11 03:04:06 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.74s: + episode_total: mean=204.64s, total=204.64s, count=1, min=204639.0ms, max=204639.0ms + sensor_polling: mean=521.1ms, total=146.42s, count=281, min=447.2ms, max=1060.1ms + save_trajectories: mean=9.85s, total=9.85s, count=1, min=9845.3ms, max=9845.3ms + physics_step: mean=26.8ms, total=7.54s, count=281, min=18.2ms, max=100.4ms + save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.7ms, max=4587.7ms + task_sampling: mean=744.1ms, total=744.1ms, count=1, min=744.1ms, max=744.1ms + task_specific_sample: mean=739.2ms, total=739.2ms, count=1, min=739.2ms, max=739.2ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=742.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=18.3us, 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] +05/11 03:04:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:04:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:04:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:04:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:04:08 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: 178] +05/11 03:04:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:04:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087360m [env.py: 870] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:04:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92874538 1.03523613 0.08736023] yaw=-148.7deg [env.py: 1019] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96007145 0.28736269 0.08736023] yaw=160.6deg [env.py: 1019] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92292985 0.38958348 0.08736023] yaw=179.1deg [env.py: 1019] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:04:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.4ms, total=134.4ms [env.py: 1075] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.035, 0.087) [env.py: 1079] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.7 deg [env.py: 1082] +05/11 03:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:04:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:04:09 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 03:04:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.199s [base_object_manipulation_planner_policy.py: 377] +05/11 03:04:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:04:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:04:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.190s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:04:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.142s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:04:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.527[m] 86.907[deg] [grasp_sample.py: 539] +05/11 03:04:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:04:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:04:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:04:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:04:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:04:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:04:44 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:05:08 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:05:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:05:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:05:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:05:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:05:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:05:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:05:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 15.37s (batch: 5.04s, save: 10.33s) [pipeline.py: 300] +05/11 03:05:24 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.71s: + episode_total: mean=211.03s, total=211.03s, count=1, min=211025.1ms, max=211025.1ms + sensor_polling: mean=517.9ms, total=155.38s, count=300, min=440.6ms, max=911.3ms + save_trajectories: mean=10.33s, total=10.33s, count=1, min=10327.2ms, max=10327.2ms + physics_step: mean=26.3ms, total=7.88s, count=300, min=17.6ms, max=115.1ms + save_batch_prep: mean=5.04s, total=5.04s, count=1, min=5040.7ms, max=5040.7ms + task_sampling: mean=707.3ms, total=707.3ms, count=1, min=707.3ms, max=707.3ms + task_specific_sample: mean=703.0ms, total=703.0ms, count=1, min=703.0ms, max=703.0ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=503.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.4us, 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] +05/11 03:05:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:05:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:05:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:05:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:05:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:05:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:05:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:05:25 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: 178] +05/11 03:05:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:05:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011440m [env.py: 870] +05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:05:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:05:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90244027 0.91898637 0.01144 ] yaw=-161.4deg [env.py: 1019] +05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94999581 1.23453272 0.01144 ] yaw=-132.6deg [env.py: 1019] +05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.0ms [env.py: 1075] +05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.919, 0.011) [env.py: 1079] +05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg [env.py: 1082] +05/11 03:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/11 03:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:05:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:05:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:05:26 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3 [pipeline.py: 1044] +05/11 03:05:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/11 03:05:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:05:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:05:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:05:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:05:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.497[m] 94.956[deg] [grasp_sample.py: 539] +05/11 03:05:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:05:27 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:05:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:05:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:05:50 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:05:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 03:05:50 INFO: [Worker 0] Preparing episode data: 299 timesteps [save_utils.py: 278] +05/11 03:06:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:06:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:06:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.64s (batch: 4.44s, save: 8.20s) [pipeline.py: 300] +05/11 03:06:03 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.47s: + episode_total: mean=205.70s, total=205.70s, count=1, min=205695.2ms, max=205695.2ms + sensor_polling: mean=526.5ms, total=156.89s, count=298, min=440.5ms, max=951.6ms + save_trajectories: mean=8.20s, total=8.20s, count=1, min=8198.0ms, max=8198.0ms + physics_step: mean=27.1ms, total=8.08s, count=298, min=16.1ms, max=132.6ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4443.2ms, max=4443.2ms + task_sampling: mean=469.6ms, total=469.6ms, count=1, min=469.6ms, max=469.6ms + task_specific_sample: mean=466.0ms, total=466.0ms, count=1, min=466.0ms, max=466.0ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=437.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.3us, 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] +05/11 03:06:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:06:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:06:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:06:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:06:05 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: 178] +05/11 03:06:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:06:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014150m [env.py: 870] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:06:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.19987842 1.06670778 0.01414984] yaw=-137.4deg [env.py: 1019] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85859254 0.80293895 0.01414984] yaw=-158.4deg [env.py: 1019] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02140141 0.98655105 0.01414984] yaw=-145.9deg [env.py: 1019] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:06:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.6ms, total=139.6ms [env.py: 1075] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.200, 1.067, 0.014) [env.py: 1079] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.4 deg [env.py: 1082] +05/11 03:06:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m [env.py: 1086] +05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:06:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:06:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:06:05 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 03:06:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 03:06:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:06:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:06:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:06:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:06:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 81.870[deg] [grasp_sample.py: 539] +05/11 03:06:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:06:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:06:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:06:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:06:26 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:06:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:06:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:06:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:06:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:06:52 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:06:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 03:06:52 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/11 03:06:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:06:58 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:07:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:07:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:07:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.49s (batch: 4.53s, save: 8.96s) [pipeline.py: 300] +05/11 03:07:06 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.52s: + episode_total: mean=206.45s, total=206.45s, count=1, min=206453.0ms, max=206453.0ms + sensor_polling: mean=521.0ms, total=150.05s, count=288, min=439.9ms, max=851.2ms + save_trajectories: mean=8.96s, total=8.96s, count=1, min=8959.7ms, max=8959.7ms + physics_step: mean=27.9ms, total=8.04s, count=288, min=16.0ms, max=95.1ms + save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4527.6ms, max=4527.6ms + task_sampling: mean=515.8ms, total=515.8ms, count=1, min=515.8ms, max=515.8ms + task_specific_sample: mean=512.5ms, total=512.5ms, count=1, min=512.5ms, max=512.5ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=486.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.6us, 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] +05/11 03:07:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:07:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:07:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:07:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:07:08 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: 178] +05/11 03:07:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:07:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010893m [env.py: 870] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:07:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96484687 0.95327753 0.01089252] yaw=-152.9deg [env.py: 1019] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87740799 0.94725794 0.01089252] yaw=-154.5deg [env.py: 1019] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83820705 0.47311714 0.01089252] yaw=179.6deg [env.py: 1019] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:07:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.8ms, total=104.9ms [env.py: 1075] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.953, 0.011) [env.py: 1079] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg [env.py: 1082] +05/11 03:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:07:08 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:07:08 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 03:07:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 03:07:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:07:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:07:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:07:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:07:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.468[m] 94.759[deg] [grasp_sample.py: 539] +05/11 03:07:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:07:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:07:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:07:24 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:07:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:07:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:07:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:07:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:07:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.96s (batch: 4.99s, save: 8.96s) [pipeline.py: 300] +05/11 03:07:39 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.59s: + episode_total: mean=210.28s, total=210.28s, count=1, min=210282.1ms, max=210282.1ms + sensor_polling: mean=515.5ms, total=154.64s, count=300, min=441.8ms, max=1211.1ms + save_trajectories: mean=8.96s, total=8.96s, count=1, min=8963.9ms, max=8963.9ms + physics_step: mean=23.8ms, total=7.13s, count=300, min=15.8ms, max=64.2ms + save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4994.2ms, max=4994.2ms + task_sampling: mean=586.8ms, total=586.8ms, count=1, min=586.8ms, max=586.8ms + task_specific_sample: mean=582.1ms, total=582.1ms, count=1, min=582.1ms, max=582.1ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=623.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=41.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:07:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:07:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:07:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:07:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:07:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:07:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:07:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064738m [env.py: 870] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:07:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70088042 0.4327585 0.06473847] yaw=173.7deg [env.py: 1019] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.880786 1.0714763 0.06473847] yaw=-143.0deg [env.py: 1019] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93744817 0.68815013 0.06473847] yaw=-163.8deg [env.py: 1019] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:07:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.1ms, total=149.2ms [env.py: 1075] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.433, 0.065) [env.py: 1079] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.7 deg [env.py: 1082] +05/11 03:07:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:07:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:07:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:07:41 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 03:07:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/11 03:07:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:07:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:07:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:07:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:07:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.548[m] 89.301[deg] [grasp_sample.py: 539] +05/11 03:07:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:07:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:07:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:08:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:08:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:08:15 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:08:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:08:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:08:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:08:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:08:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:08:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:08:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:08:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:08:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:08:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:08:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 03:08:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.535s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:08:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.260[deg] [grasp_sample.py: 539] +05/11 03:08:34 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:08:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:08:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:08:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:08:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:08:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:08:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:08:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:08:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:08:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:08:35 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: 256] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078725m [env.py: 870] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:08:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07308295 0.95469075 0.07872473] yaw=-140.3deg [env.py: 1019] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03448662 0.12196193 0.07872473] yaw=157.4deg [env.py: 1019] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68446894 0.30029017 0.07872473] yaw=158.6deg [env.py: 1019] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:08:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.6ms, total=195.6ms [env.py: 1075] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.073, 0.955, 0.079) [env.py: 1079] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg [env.py: 1082] +05/11 03:08:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m [env.py: 1086] +05/11 03:08:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:08:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:08:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:08:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:08:36 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 03:08:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 03:08:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:08:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:08:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:08:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.796s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:08:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.346[m] 80.677[deg] [grasp_sample.py: 539] +05/11 03:08:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:08:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:08:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:08:39 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:08:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:08:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:08:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:08:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:08:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:08:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.89s (batch: 4.41s, save: 8.48s) [pipeline.py: 300] +05/11 03:08:53 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.49s: + episode_total: mean=207.37s, total=207.37s, count=1, min=207366.7ms, max=207366.7ms + sensor_polling: mean=522.3ms, total=156.70s, count=300, min=435.8ms, max=1097.4ms + save_trajectories: mean=8.48s, total=8.48s, count=1, min=8478.2ms, max=8478.2ms + physics_step: mean=25.8ms, total=7.74s, count=300, min=16.1ms, max=108.9ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.2ms, max=4413.2ms + task_sampling: mean=487.7ms, total=487.7ms, count=1, min=487.7ms, max=487.7ms + task_specific_sample: mean=484.2ms, total=484.2ms, count=1, min=484.2ms, max=484.2ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=450.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.0us, 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] +05/11 03:08:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:08:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:08:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:08:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:08:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:08:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:08:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:08:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:08:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:08:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:08:54 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: 256] +05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070676m [env.py: 870] +05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:08:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75084534 0.39397197 0.07067601] yaw=173.8deg [env.py: 1019] +05/11 03:08:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04188048 0.86430203 0.07067601] yaw=-139.5deg [env.py: 1019] +05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74458593 0.85231706 0.07067601] yaw=-157.3deg [env.py: 1019] +05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:08:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms [env.py: 1075] +05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.394, 0.071) [env.py: 1079] +05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg [env.py: 1082] +05/11 03:08:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/11 03:08:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:08:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:08:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:08:55 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:08:55 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3 [pipeline.py: 1044] +05/11 03:08:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/11 03:08:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:08:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:08:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:08:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:08:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.502[m] 92.625[deg] [grasp_sample.py: 539] +05/11 03:08:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:08:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:08:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:08:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:09:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:09:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:09:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:09:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:10:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:10:01 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:10:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:10:26 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:10:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 03:10:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:10:29 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:10:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:10:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:10:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 17.48s (batch: 4.76s, save: 12.72s) [pipeline.py: 300] +05/11 03:10:44 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s: + episode_total: mean=216.51s, total=216.51s, count=1, min=216510.4ms, max=216510.4ms + sensor_polling: mean=534.2ms, total=160.26s, count=300, min=438.0ms, max=915.3ms + save_trajectories: mean=12.72s, total=12.72s, count=1, min=12717.6ms, max=12717.6ms + physics_step: mean=26.6ms, total=7.98s, count=300, min=15.0ms, max=132.0ms + save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4763.6ms, max=4763.6ms + task_sampling: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms + task_specific_sample: mean=442.1ms, total=442.1ms, count=1, min=442.1ms, max=442.1ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=564.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=22.4us, 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] +05/11 03:10:46 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/11 03:10:46 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/11 03:10:46 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes [pipeline.py: 1323] +05/11 03:10:46 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5368.03s + House averages: + episode_total: mean=162.28s, total=2920.98s, count=18, min=2921.1ms, max=245529.6ms + sensor_polling: mean=476.1ms, total=2173.79s, count=4566, min=383.3ms, max=1051.4ms + physics_step: mean=23.3ms, total=106.48s, count=4566, min=13.2ms, max=132.0ms + save_trajectories: mean=8.53s, total=93.85s, count=11, min=7239.7ms, max=12717.6ms + save_batch_prep: mean=4.09s, total=45.03s, count=11, min=3453.3ms, max=4855.0ms + task_sampling: mean=655.2ms, total=11.79s, count=18, min=329.2ms, max=4017.8ms + task_specific_sample: mean=461.0ms, total=8.30s, count=18, min=325.8ms, max=674.1ms + scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms + scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms + compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms + scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms + compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms + compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.1ms, max=3.3ms + scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms + asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms + mj_forward_sync: mean=875.3us, total=15.8ms, count=18, min=0.4ms, max=4.5ms + asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + policy_setup: mean=20.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 03:10:46 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 03:10:46 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5368.03s + Worker averages: + episode_total: mean=162.28s, total=2920.98s, count=18, min=2921.1ms, max=245529.6ms + sensor_polling: mean=476.1ms, total=2173.79s, count=4566, min=383.3ms, max=1051.4ms + physics_step: mean=23.3ms, total=106.48s, count=4566, min=13.2ms, max=132.0ms + save_trajectories: mean=8.53s, total=93.85s, count=11, min=7239.7ms, max=12717.6ms + save_batch_prep: mean=4.09s, total=45.03s, count=11, min=3453.3ms, max=4855.0ms + task_sampling: mean=655.2ms, total=11.79s, count=18, min=329.2ms, max=4017.8ms + task_specific_sample: mean=461.0ms, total=8.30s, count=18, min=325.8ms, max=674.1ms + scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms + scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms + compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms + scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms + compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms + compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.1ms, max=3.3ms + scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms + asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms + mj_forward_sync: mean=875.3us, total=15.8ms, count=18, min=0.4ms, max=4.5ms + asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + policy_setup: mean=20.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 03:10:49 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 03:10:49 INFO: Success count: 11, Total count: 12 [pipeline.py: 1491] +05/11 03:10:49 INFO: Success rate: 91.67% [pipeline.py: 1492] +05/11 03:10:56 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:10:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:10:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:11:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:11:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:11:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.61s (batch: 4.19s, save: 9.41s) [pipeline.py: 300] +05/11 03:11:10 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.46s: + episode_total: mean=209.84s, total=209.84s, count=1, min=209837.2ms, max=209837.2ms + sensor_polling: mean=518.1ms, total=155.43s, count=300, min=440.7ms, max=940.8ms + save_trajectories: mean=9.41s, total=9.41s, count=1, min=9413.6ms, max=9413.6ms + physics_step: mean=27.2ms, total=8.16s, count=300, min=16.5ms, max=118.1ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4191.9ms, max=4191.9ms + task_sampling: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms + task_specific_sample: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=622.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.4us, 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] +05/11 03:11:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:11:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:11:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:11:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:11:12 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: 178] +05/11 03:11:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:11:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000137m [env.py: 870] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:11:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-9.05183132e-01 2.40542906e-01 1.37186199e-04] yaw=172.5deg [env.py: 1019] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-9.95155923e-01 8.98214722e-01 1.37186199e-04] yaw=-159.0deg [env.py: 1019] +05/11 03:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:11:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=415.3ms, total=415.3ms [env.py: 1075] +05/11 03:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.241, 0.000) [env.py: 1079] +05/11 03:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.5 deg [env.py: 1082] +05/11 03:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/11 03:11:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:11:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:11:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:11:13 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 03:11:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.158s [base_object_manipulation_planner_policy.py: 377] +05/11 03:11:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:11:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:11:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:11:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.149s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:11:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.374[m] 86.570[deg] [grasp_sample.py: 539] +05/11 03:11:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:11:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:11:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:11:17 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:11:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:11:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:11:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:11:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:11:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:11:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:11:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:11:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:11:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:11:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:11:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 03:11:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:11:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.061[deg] [grasp_sample.py: 539] +05/11 03:11:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:11:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:11:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:11:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:11:39 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:11:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 03:11:39 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/11 03:11:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:11:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:11:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:11:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:11:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 14.61s (batch: 5.62s, save: 9.00s) [pipeline.py: 300] +05/11 03:11:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:11:54 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.91s: + episode_total: mean=174.05s, total=348.10s, count=2, min=149130.8ms, max=198969.2ms + sensor_polling: mean=520.0ms, total=274.54s, count=528, min=429.1ms, max=1065.3ms + physics_step: mean=24.9ms, total=13.16s, count=528, min=15.5ms, max=107.6ms + save_trajectories: mean=9.00s, total=9.00s, count=1, min=8997.7ms, max=8997.7ms + save_batch_prep: mean=5.62s, total=5.62s, count=1, min=5616.5ms, max=5616.5ms + task_sampling: mean=456.3ms, total=912.5ms, count=2, min=431.6ms, max=481.0ms + task_specific_sample: mean=452.4ms, total=904.9ms, count=2, min=427.7ms, max=477.2ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms + mj_forward_sync: mean=417.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:11:55 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:11:56 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/11 03:11:56 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/11 03:11:56 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes [pipeline.py: 1323] +05/11 03:11:56 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=5553.87s + House averages: + episode_total: mean=166.15s, total=2990.64s, count=18, min=4505.4ms, max=224189.0ms + sensor_polling: mean=473.8ms, total=2298.55s, count=4851, min=378.3ms, max=1065.3ms + physics_step: mean=22.3ms, total=108.39s, count=4851, min=12.4ms, max=143.6ms + save_trajectories: mean=8.71s, total=87.09s, count=10, min=7687.3ms, max=9791.8ms + save_batch_prep: mean=4.10s, total=41.05s, count=10, min=3621.9ms, max=5616.5ms + task_sampling: mean=652.8ms, total=11.75s, count=18, min=303.2ms, max=4119.6ms + task_specific_sample: mean=456.8ms, total=8.22s, count=18, min=300.3ms, max=662.0ms + scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms + scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms + scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms + compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms + compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms + scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms + scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms + compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=6.7ms + asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms + mj_forward_sync: mean=604.7us, total=10.9ms, count=18, min=0.4ms, max=3.1ms + compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + policy_setup: mean=21.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 03:11:56 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 03:11:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5553.87s + Worker averages: + episode_total: mean=166.15s, total=2990.64s, count=18, min=4505.4ms, max=224189.0ms + sensor_polling: mean=473.8ms, total=2298.55s, count=4851, min=378.3ms, max=1065.3ms + physics_step: mean=22.3ms, total=108.39s, count=4851, min=12.4ms, max=143.6ms + save_trajectories: mean=8.71s, total=87.09s, count=10, min=7687.3ms, max=9791.8ms + save_batch_prep: mean=4.10s, total=41.05s, count=10, min=3621.9ms, max=5616.5ms + task_sampling: mean=652.8ms, total=11.75s, count=18, min=303.2ms, max=4119.6ms + task_specific_sample: mean=456.8ms, total=8.22s, count=18, min=300.3ms, max=662.0ms + scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms + scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms + scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms + compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms + compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms + scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms + scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms + compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=6.7ms + asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms + mj_forward_sync: mean=604.7us, total=10.9ms, count=18, min=0.4ms, max=3.1ms + compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + policy_setup: mean=21.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 03:11:59 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 03:11:59 INFO: Success count: 10, Total count: 11 [pipeline.py: 1491] +05/11 03:11:59 INFO: Success rate: 90.91% [pipeline.py: 1492] +05/11 03:12:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:12:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:12:15 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:12:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:12:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:12:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:12:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:12:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 12.59s (batch: 4.99s, save: 7.60s) [pipeline.py: 300] +05/11 03:12:28 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.41s: + episode_total: mean=213.98s, total=213.98s, count=1, min=213981.0ms, max=213981.0ms + sensor_polling: mean=517.5ms, total=155.26s, count=300, min=431.2ms, max=999.8ms + physics_step: mean=26.9ms, total=8.07s, count=300, min=16.0ms, max=109.3ms + save_trajectories: mean=7.60s, total=7.60s, count=1, min=7598.1ms, max=7598.1ms + save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4994.3ms, max=4994.3ms + task_sampling: mean=412.9ms, total=412.9ms, count=1, min=412.9ms, max=412.9ms + task_specific_sample: mean=409.0ms, total=409.0ms, count=1, min=409.0ms, max=409.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=453.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.6us, 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] +05/11 03:12:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:12:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:12:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:12:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:12:30 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: 178] +05/11 03:12:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:12:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052698m [env.py: 870] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:12:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.14507746 1.04655104 0.05269774] yaw=-133.7deg [env.py: 1019] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:12:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.9ms, total=220.9ms [env.py: 1075] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.145, 1.047, 0.053) [env.py: 1079] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg [env.py: 1082] +05/11 03:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m [env.py: 1086] +05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:12:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:12:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:12:31 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3 [pipeline.py: 1044] +05/11 03:12:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/11 03:12:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:12:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:12:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:12:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.003s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:12:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.399[m] 92.138[deg] [grasp_sample.py: 539] +05/11 03:12:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:12:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:12:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:13:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:13:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:13:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:13:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:13:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:13:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:13:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:13:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:13:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:13:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:13:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 03:13:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.421s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:13:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.988[deg] [grasp_sample.py: 539] +05/11 03:13:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:13:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:13:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:13:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:13:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:13:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:14:19 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:14:41 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [pipeline.py: 1174] +05/11 03:14:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:14:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:14:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:14:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 [save_utils.py: 785] +05/11 03:14:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_014 in 13.53s (batch: 4.89s, save: 8.65s) [pipeline.py: 300] +05/11 03:14:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:14:55 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.84s: + episode_total: mean=222.54s, total=222.54s, count=1, min=222538.7ms, max=222538.7ms + sensor_polling: mean=484.5ms, total=145.34s, count=300, min=419.3ms, max=1028.8ms + save_trajectories: mean=8.65s, total=8.65s, count=1, min=8646.5ms, max=8646.5ms + physics_step: mean=23.9ms, total=7.16s, count=300, min=17.6ms, max=53.9ms + save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4888.2ms, max=4888.2ms + task_sampling: mean=836.4ms, total=836.4ms, count=1, min=836.4ms, max=836.4ms + task_specific_sample: mean=832.1ms, total=832.1ms, count=1, min=832.1ms, max=832.1ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=511.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.8us, 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] +05/11 03:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:14:56 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/11 03:14:56 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/11 03:14:56 INFO: [Worker 0] Worker 0 completed house 1: 13/15 successful episodes [pipeline.py: 1323] +05/11 03:14:56 INFO: [Worker 0] [PROFILE] House 1 complete: 13/15 successful, 15 episodes, total_time=5796.75s + House averages: + episode_total: mean=176.08s, total=3169.42s, count=18, min=3729.4ms, max=222538.7ms + sensor_polling: mean=473.0ms, total=2322.62s, count=4910, min=364.9ms, max=1211.1ms + save_trajectories: mean=8.73s, total=113.49s, count=13, min=7293.8ms, max=10051.7ms + physics_step: mean=22.4ms, total=109.82s, count=4910, min=12.6ms, max=118.1ms + save_batch_prep: mean=4.21s, total=54.77s, count=13, min=3524.3ms, max=4994.2ms + task_sampling: mean=639.4ms, total=11.51s, count=18, min=318.4ms, max=3236.2ms + task_specific_sample: mean=480.6ms, total=8.65s, count=18, min=315.7ms, max=832.1ms + scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms + scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms + scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms + compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms + compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms + scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms + compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.1ms, max=3.3ms + scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms + asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms + mj_forward_sync: mean=464.0us, total=8.4ms, count=18, min=0.4ms, max=0.7ms + asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 03:14:56 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 03:14:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5796.75s + Worker averages: + episode_total: mean=176.08s, total=3169.42s, count=18, min=3729.4ms, max=222538.7ms + sensor_polling: mean=473.0ms, total=2322.62s, count=4910, min=364.9ms, max=1211.1ms + save_trajectories: mean=8.73s, total=113.49s, count=13, min=7293.8ms, max=10051.7ms + physics_step: mean=22.4ms, total=109.82s, count=4910, min=12.6ms, max=118.1ms + save_batch_prep: mean=4.21s, total=54.77s, count=13, min=3524.3ms, max=4994.2ms + task_sampling: mean=639.4ms, total=11.51s, count=18, min=318.4ms, max=3236.2ms + task_specific_sample: mean=480.6ms, total=8.65s, count=18, min=315.7ms, max=832.1ms + scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms + scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms + scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms + compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms + compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms + scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms + compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.1ms, max=3.3ms + scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms + asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms + mj_forward_sync: mean=464.0us, total=8.4ms, count=18, min=0.4ms, max=0.7ms + asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 03:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:14:59 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 03:14:59 INFO: Success count: 13, Total count: 15 [pipeline.py: 1491] +05/11 03:14:59 INFO: Success rate: 86.67% [pipeline.py: 1492] +05/11 03:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:15:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:15:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:15:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:15:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:15:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:15:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 03:15:03 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.621s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:15:03 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.276[deg] [grasp_sample.py: 539] +05/11 03:15:04 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:15:06 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/11 03:15:06 WARNING: [Worker 0] No trajectory data to save for chunk_014 [pipeline.py: 234] +05/11 03:15:06 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes [pipeline.py: 1323] +05/11 03:15:06 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=5870.29s + House averages: + episode_total: mean=176.73s, total=3181.07s, count=18, min=177.3ms, max=213981.0ms + sensor_polling: mean=475.2ms, total=2365.71s, count=4978, min=372.4ms, max=1251.8ms + save_trajectories: mean=8.65s, total=121.08s, count=14, min=7598.1ms, max=10516.2ms + physics_step: mean=23.2ms, total=115.54s, count=4978, min=13.3ms, max=115.1ms + save_batch_prep: mean=4.22s, total=59.03s, count=14, min=3607.2ms, max=5040.7ms + task_sampling: mean=669.3ms, total=11.38s, count=17, min=311.7ms, max=3935.3ms + task_specific_sample: mean=444.1ms, total=7.99s, count=18, min=167.7ms, max=767.2ms + scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms + scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms + scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms + compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms + compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms + task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms + compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms + scene_randomize: mean=2.3ms, total=40.8ms, count=18, min=1.1ms, max=3.0ms + asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms + compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms + mj_forward_sync: mean=661.7us, total=11.9ms, count=18, min=0.4ms, max=3.8ms + asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/11 03:15:06 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/11 03:15:06 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5870.29s + Worker averages: + episode_total: mean=176.73s, total=3181.07s, count=18, min=177.3ms, max=213981.0ms + sensor_polling: mean=475.2ms, total=2365.71s, count=4978, min=372.4ms, max=1251.8ms + save_trajectories: mean=8.65s, total=121.08s, count=14, min=7598.1ms, max=10516.2ms + physics_step: mean=23.2ms, total=115.54s, count=4978, min=13.3ms, max=115.1ms + save_batch_prep: mean=4.22s, total=59.03s, count=14, min=3607.2ms, max=5040.7ms + task_sampling: mean=669.3ms, total=11.38s, count=17, min=311.7ms, max=3935.3ms + task_specific_sample: mean=444.1ms, total=7.99s, count=18, min=167.7ms, max=767.2ms + scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms + scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms + scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms + compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms + compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms + task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms + compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms + scene_randomize: mean=2.3ms, total=40.8ms, count=18, min=1.1ms, max=3.0ms + asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms + compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms + mj_forward_sync: mean=661.7us, total=11.9ms, count=18, min=0.4ms, max=3.8ms + asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/11 03:15:08 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/11 03:15:08 INFO: Success count: 14, Total count: 15 [pipeline.py: 1491] +05/11 03:15:08 INFO: Success rate: 93.33% [pipeline.py: 1492] diff --git a/fridge_7/chunk_014/shard_1_of_4.log b/fridge_7/chunk_014/shard_1_of_4.log index 49d64b218668fed44d6ff9edf841819fa815e882..a8e87c0b3d5f9fe020f81b4adb53cf7ddfcc6fc0 100644 --- a/fridge_7/chunk_014/shard_1_of_4.log +++ b/fridge_7/chunk_014/shard_1_of_4.log @@ -1140,3 +1140,572 @@ ValueError: Failed to place robot near object: Fridge_7_upside_down_root [05/11 02:52:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp [05/11 02:52:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/11 02:52:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:53:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:53:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:53:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:53:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:54:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:54:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:54:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:54:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:54:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps +[05/11 02:54:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.416s, found feasible grasp: True +[05/11 02:54:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.427[deg] +[05/11 02:54:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:54:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:54:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:54:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/11 02:54:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:54:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 02:54:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:54:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:54:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:54:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 14.51s (batch: 4.00s, save: 10.52s) +[05/11 02:54:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.42s: + episode_total: mean=198.70s, total=198.70s, count=1, min=198699.1ms, max=198699.1ms + sensor_polling: mean=469.2ms, total=140.75s, count=300, min=393.2ms, max=718.3ms + save_trajectories: mean=10.52s, total=10.52s, count=1, min=10516.2ms, max=10516.2ms + physics_step: mean=22.3ms, total=6.70s, count=300, min=13.3ms, max=58.0ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3995.6ms, max=3995.6ms + task_sampling: mean=423.7ms, total=423.7ms, count=1, min=423.7ms, max=423.7ms + task_specific_sample: mean=419.9ms, total=419.9ms, count=1, min=419.9ms, max=419.9ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=373.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=28.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:54:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:54:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:54:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:54:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:54:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:54:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:54:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:54:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:54:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:54:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:54:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m) +[05/11 02:54:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:54:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:54:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099543m +[05/11 02:54:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:54:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:54:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:54:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79383475 0.79523743 0.09954261] yaw=-172.0deg +[05/11 02:54:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:54:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:54:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:54:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:54:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:54:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98242657 0.93334811 0.09954261] yaw=-156.4deg +[05/11 02:54:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:54:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79847742 0.80906667 0.09954261] yaw=-159.5deg +[05/11 02:54:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:54:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:54:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=458.4ms, total=458.4ms +[05/11 02:54:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.794, 0.795, 0.100) +[05/11 02:54:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg +[05/11 02:54:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.961m +[05/11 02:54:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:54:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:54:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:54:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:54:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:54:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 02:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.129s +[05/11 02:54:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:54:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:54:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps +[05/11 02:54:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: True +[05/11 02:54:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 40 (originally 40): w/ 0.517[m] 90.895[deg] +[05/11 02:54:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:54:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:54:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:55:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:55:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:57:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True +[05/11 02:58:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:58:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 02:58:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:58:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:58:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:58:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.02s (batch: 4.34s, save: 8.68s) +[05/11 02:58:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.77s: + episode_total: mean=209.21s, total=209.21s, count=1, min=209212.2ms, max=209212.2ms + sensor_polling: mean=511.9ms, total=153.56s, count=300, min=401.6ms, max=1251.8ms + save_trajectories: mean=8.68s, total=8.68s, count=1, min=8679.4ms, max=8679.4ms + physics_step: mean=25.9ms, total=7.78s, count=300, min=16.7ms, max=91.2ms + save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.9ms, max=4336.9ms + task_sampling: mean=771.5ms, total=771.5ms, count=1, min=771.5ms, max=771.5ms + task_specific_sample: mean=767.2ms, total=767.2ms, count=1, min=767.2ms, max=767.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=831.0us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:58:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:58:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:58:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:58:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:58:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:58:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:58:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:58:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:58:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:58:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:58:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m) +[05/11 02:58:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:58:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:58:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027234m +[05/11 02:58:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:58:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:58:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6527338 0.40810309 0.02723366] yaw=184.5deg +[05/11 02:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07280929 0.92833791 0.02723366] yaw=-142.1deg +[05/11 02:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.2032377 1.08133798 0.02723366] yaw=-125.9deg +[05/11 02:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:58:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:58:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.7ms, total=200.8ms +[05/11 02:58:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.408, 0.027) +[05/11 02:58:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 184.5 deg +[05/11 02:58:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.052m +[05/11 02:58:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:58:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:58:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:58:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:58:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:58:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 02:58:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s +[05/11 02:58:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:58:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:58:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps +[05/11 02:58:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.643s, found feasible grasp: True +[05/11 02:58:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.602[m] 88.174[deg] +[05/11 02:58:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:59:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:59:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:01:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/11 03:01:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:01:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 03:01:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:01:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:01:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:01:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.02s (batch: 4.68s, save: 8.35s) +[05/11 03:01:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s: + episode_total: mean=208.54s, total=208.54s, count=1, min=208540.0ms, max=208540.0ms + sensor_polling: mean=514.6ms, total=154.38s, count=300, min=430.0ms, max=1086.4ms + save_trajectories: mean=8.35s, total=8.35s, count=1, min=8345.4ms, max=8345.4ms + physics_step: mean=24.2ms, total=7.25s, count=300, min=18.6ms, max=82.8ms + save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4677.8ms, max=4677.8ms + task_sampling: mean=510.2ms, total=510.2ms, count=1, min=510.2ms, max=510.2ms + task_specific_sample: mean=505.8ms, total=505.8ms, count=1, min=505.8ms, max=505.8ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=669.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:01:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:01:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:01:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:01:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:01:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:01:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:01:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:01:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:01:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:01:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:01:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) +[05/11 03:01:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:01:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:01:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084366m +[05/11 03:01:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:01:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:01:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.60560778 0.509178 0.08436632] yaw=-183.3deg +[05/11 03:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74689134 0.17667097 0.08436632] yaw=171.8deg +[05/11 03:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81463441 0.42339861 0.08436632] yaw=185.8deg +[05/11 03:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:01:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:01:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=409.4ms, total=409.4ms +[05/11 03:01:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.606, 0.509, 0.084) +[05/11 03:01:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.3 deg +[05/11 03:01:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.097m +[05/11 03:01:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:01:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:01:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:01:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:01:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:01:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 03:01:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.130s +[05/11 03:01:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:01:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:01:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.166s, found 88 non-colliding grasps +[05/11 03:01:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.315s, found feasible grasp: True +[05/11 03:01:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.672[m] 93.667[deg] +[05/11 03:01:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:01:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:01:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:03:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:03:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:04:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/11 03:05:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:05:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 03:05:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:05:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:05:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:05:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 15.37s (batch: 5.04s, save: 10.33s) +[05/11 03:05:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.71s: + episode_total: mean=211.03s, total=211.03s, count=1, min=211025.1ms, max=211025.1ms + sensor_polling: mean=517.9ms, total=155.38s, count=300, min=440.6ms, max=911.3ms + save_trajectories: mean=10.33s, total=10.33s, count=1, min=10327.2ms, max=10327.2ms + physics_step: mean=26.3ms, total=7.88s, count=300, min=17.6ms, max=115.1ms + save_batch_prep: mean=5.04s, total=5.04s, count=1, min=5040.7ms, max=5040.7ms + task_sampling: mean=707.3ms, total=707.3ms, count=1, min=707.3ms, max=707.3ms + task_specific_sample: mean=703.0ms, total=703.0ms, count=1, min=703.0ms, max=703.0ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=503.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.4us, 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 +[05/11 03:05:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:05:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:05:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:05:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:05:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:05:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:05:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:05:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:05:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:05:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:05:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) +[05/11 03:05:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:05:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:05:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011440m +[05/11 03:05:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:05:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:05:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:05:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90244027 0.91898637 0.01144 ] yaw=-161.4deg +[05/11 03:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94999581 1.23453272 0.01144 ] yaw=-132.6deg +[05/11 03:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:05:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:05:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.0ms +[05/11 03:05:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.919, 0.011) +[05/11 03:05:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.4 deg +[05/11 03:05:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m +[05/11 03:05:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:05:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:05:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:05:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:05:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:05:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 03:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s +[05/11 03:05:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:05:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:05:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps +[05/11 03:05:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True +[05/11 03:05:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.497[m] 94.956[deg] +[05/11 03:05:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:05:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:05:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:06:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:08:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True +[05/11 03:08:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:08:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 03:08:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:08:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:08:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:08:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.89s (batch: 4.41s, save: 8.48s) +[05/11 03:08:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.49s: + episode_total: mean=207.37s, total=207.37s, count=1, min=207366.7ms, max=207366.7ms + sensor_polling: mean=522.3ms, total=156.70s, count=300, min=435.8ms, max=1097.4ms + save_trajectories: mean=8.48s, total=8.48s, count=1, min=8478.2ms, max=8478.2ms + physics_step: mean=25.8ms, total=7.74s, count=300, min=16.1ms, max=108.9ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4413.2ms, max=4413.2ms + task_sampling: mean=487.7ms, total=487.7ms, count=1, min=487.7ms, max=487.7ms + task_specific_sample: mean=484.2ms, total=484.2ms, count=1, min=484.2ms, max=484.2ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=450.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.0us, 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 +[05/11 03:08:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:08:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:08:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:08:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:08:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:08:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:08:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:08:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:08:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:08:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:08:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) +[05/11 03:08:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:08:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:08:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070676m +[05/11 03:08:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:08:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:08:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:08:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:08:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75084534 0.39397197 0.07067601] yaw=173.8deg +[05/11 03:08:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:08:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:08:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04188048 0.86430203 0.07067601] yaw=-139.5deg +[05/11 03:08:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:08:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74458593 0.85231706 0.07067601] yaw=-157.3deg +[05/11 03:08:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:08:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:08:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms +[05/11 03:08:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.394, 0.071) +[05/11 03:08:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg +[05/11 03:08:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.956m +[05/11 03:08:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:08:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:08:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:08:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:08:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:08:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/11 03:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s +[05/11 03:08:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:08:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:08:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps +[05/11 03:08:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.821s, found feasible grasp: True +[05/11 03:08:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.502[m] 92.625[deg] +[05/11 03:08:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:08:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:08:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:09:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:10:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:10:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:11:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:11:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:11:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:11:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:11:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:11:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:11:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:11:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:11:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps +[05/11 03:11:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True +[05/11 03:11:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.061[deg] +[05/11 03:11:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:11:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:11:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:11:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:11:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:11:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/11 03:12:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:12:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 1/4: 1 episodes +[05/11 03:12:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:12:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:12:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:12:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.59s (batch: 4.99s, save: 7.60s) +[05/11 03:12:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.41s: + episode_total: mean=213.98s, total=213.98s, count=1, min=213981.0ms, max=213981.0ms + sensor_polling: mean=517.5ms, total=155.26s, count=300, min=431.2ms, max=999.8ms + physics_step: mean=26.9ms, total=8.07s, count=300, min=16.0ms, max=109.3ms + save_trajectories: mean=7.60s, total=7.60s, count=1, min=7598.1ms, max=7598.1ms + save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4994.3ms, max=4994.3ms + task_sampling: mean=412.9ms, total=412.9ms, count=1, min=412.9ms, max=412.9ms + task_specific_sample: mean=409.0ms, total=409.0ms, count=1, min=409.0ms, max=409.0ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=453.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.6us, 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 +[05/11 03:12:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:12:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:12:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:12:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:12:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:12:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:12:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:12:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:12:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:12:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:12:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) +[05/11 03:12:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:12:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:12:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052698m +[05/11 03:12:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:12:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:12:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:12:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.14507746 1.04655104 0.05269774] yaw=-133.7deg +[05/11 03:12:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:12:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:12:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.9ms, total=220.9ms +[05/11 03:12:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.145, 1.047, 0.053) +[05/11 03:12:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg +[05/11 03:12:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.793m +[05/11 03:12:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:12:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:12:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:12:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:12:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:12:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 03:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s +[05/11 03:12:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:12:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:12:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 03:12:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.003s, found feasible grasp: True +[05/11 03:12:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.399[m] 92.138[deg] +[05/11 03:12:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:12:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:12:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:13:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:13:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:13:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:14:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:14:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:14:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:14:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:14:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:15:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:15:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:15:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:15:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:15:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:15:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps +[05/11 03:15:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.621s, found feasible grasp: True +[05/11 03:15:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.276[deg] +[05/11 03:15:04 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:15:06 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014 +[05/11 03:15:06 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014 +[05/11 03:15:06 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/15 successful episodes +[05/11 03:15:06 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=5870.29s + House averages: + episode_total: mean=176.73s, total=3181.07s, count=18, min=177.3ms, max=213981.0ms + sensor_polling: mean=475.2ms, total=2365.71s, count=4978, min=372.4ms, max=1251.8ms + save_trajectories: mean=8.65s, total=121.08s, count=14, min=7598.1ms, max=10516.2ms + physics_step: mean=23.2ms, total=115.54s, count=4978, min=13.3ms, max=115.1ms + save_batch_prep: mean=4.22s, total=59.03s, count=14, min=3607.2ms, max=5040.7ms + task_sampling: mean=669.3ms, total=11.38s, count=17, min=311.7ms, max=3935.3ms + task_specific_sample: mean=444.1ms, total=7.99s, count=18, min=167.7ms, max=767.2ms + scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms + scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms + scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms + compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms + compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms + task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms + compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms + scene_randomize: mean=2.3ms, total=40.8ms, count=18, min=1.1ms, max=3.0ms + asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms + compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms + mj_forward_sync: mean=661.7us, total=11.9ms, count=18, min=0.4ms, max=3.8ms + asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 03:15:06 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 03:15:06 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5870.29s + Worker averages: + episode_total: mean=176.73s, total=3181.07s, count=18, min=177.3ms, max=213981.0ms + sensor_polling: mean=475.2ms, total=2365.71s, count=4978, min=372.4ms, max=1251.8ms + save_trajectories: mean=8.65s, total=121.08s, count=14, min=7598.1ms, max=10516.2ms + physics_step: mean=23.2ms, total=115.54s, count=4978, min=13.3ms, max=115.1ms + save_batch_prep: mean=4.22s, total=59.03s, count=14, min=3607.2ms, max=5040.7ms + task_sampling: mean=669.3ms, total=11.38s, count=17, min=311.7ms, max=3935.3ms + task_specific_sample: mean=444.1ms, total=7.99s, count=18, min=167.7ms, max=767.2ms + scene_load: mean=3.49s, total=3.49s, count=1, min=3485.8ms, max=3485.8ms + scene_env_create: mean=2.18s, total=2.18s, count=1, min=2179.6ms, max=2179.6ms + scene_compile: mean=1.19s, total=1.19s, count=1, min=1194.8ms, max=1194.8ms + compile_mujoco: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms + compile_xml_load: mean=386.3ms, total=386.3ms, count=1, min=386.3ms, max=386.3ms + task_sampling_failed: mean=177.3ms, total=177.3ms, count=1, min=177.3ms, max=177.3ms + compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms + scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms + scene_asset_install: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms + scene_randomize: mean=2.3ms, total=40.8ms, count=18, min=1.1ms, max=3.0ms + asset_install_grasps: mean=32.4ms, total=32.4ms, count=1, min=32.4ms, max=32.4ms + compile_robot_add: mean=19.5ms, total=19.5ms, count=1, min=19.5ms, max=19.5ms + mj_forward_sync: mean=661.7us, total=11.9ms, count=18, min=0.4ms, max=3.8ms + asset_install_objects: mean=8.3ms, total=8.3ms, count=1, min=8.3ms, max=8.3ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 03:15:08 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 03:15:08 INFO pipeline.py:1491] Success count: 14, Total count: 15 +[05/11 03:15:08 INFO pipeline.py:1492] Success rate: 93.33% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_014 +========================================== diff --git a/fridge_7/chunk_014/shard_2_of_4.log b/fridge_7/chunk_014/shard_2_of_4.log index 8fd77e0b579967c237c7b1767cde4f818febb2b0..c858a94e3aca519321049ad7cef997668e51bcb8 100644 --- a/fridge_7/chunk_014/shard_2_of_4.log +++ b/fridge_7/chunk_014/shard_2_of_4.log @@ -1224,3 +1224,536 @@ ValueError: IK failed for pregrasp pose [05/11 02:51:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp [05/11 02:51:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... [05/11 02:52:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:53:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/11 02:54:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:54:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 02:54:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps +[05/11 02:54:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:54:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:54:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.60s (batch: 3.55s, save: 10.05s) +[05/11 02:54:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s: + episode_total: mean=150.30s, total=300.61s, count=2, min=122645.6ms, max=177963.7ms + sensor_polling: mean=452.9ms, total=220.55s, count=487, min=364.9ms, max=760.8ms + physics_step: mean=21.2ms, total=10.31s, count=487, min=14.0ms, max=59.7ms + save_trajectories: mean=10.05s, total=10.05s, count=1, min=10051.7ms, max=10051.7ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3551.0ms, max=3551.0ms + task_sampling: mean=409.5ms, total=819.0ms, count=2, min=367.4ms, max=451.6ms + task_specific_sample: mean=406.1ms, total=812.2ms, count=2, min=364.3ms, max=447.9ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms + mj_forward_sync: mean=382.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 02:54:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:54:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:54:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:54:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:54:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:54:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:54:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:54:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:54:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:54:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:54:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) +[05/11 02:54:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:54:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:54:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052875m +[05/11 02:54:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:54:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:54:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:54:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:54:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:54:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.61688734 0.4427823 0.05287452] yaw=174.7deg +[05/11 02:54:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:54:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:54:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:54:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94800678 1.2667643 0.05287452] yaw=-136.3deg +[05/11 02:54:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:54:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:54:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.9ms +[05/11 02:54:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.617, 0.443, 0.053) +[05/11 02:54:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg +[05/11 02:54:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.086m +[05/11 02:54:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:54:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:54:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:54:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:54:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:54:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 02:54:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s +[05/11 02:54:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:54:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:54:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps +[05/11 02:54:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.110s, found feasible grasp: True +[05/11 02:54:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.658[m] 94.759[deg] +[05/11 02:54:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:55:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:55:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:55:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:55:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:56:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:56:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:56:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:56:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:56:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:56:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.085s, found 76 non-colliding grasps +[05/11 02:56:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.465s, found feasible grasp: True +[05/11 02:56:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.388[deg] +[05/11 02:56:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:56:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:56:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:56:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:56:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:57:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False +[05/11 02:57:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=False episode_total=0.46s: + episode_total: mean=173.17s, total=173.17s, count=1, min=173169.7ms, max=173169.7ms + sensor_polling: mean=491.1ms, total=147.34s, count=300, min=395.7ms, max=1070.7ms + physics_step: mean=22.4ms, total=6.71s, count=300, min=14.9ms, max=110.3ms + task_sampling: mean=460.0ms, total=460.0ms, count=1, min=460.0ms, max=460.0ms + task_specific_sample: mean=456.3ms, total=456.3ms, count=1, min=456.3ms, max=456.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=439.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=17.8us, 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 +[05/11 02:57:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:57:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:57:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:57:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:57:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:57:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:57:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m) +[05/11 02:57:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:57:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:57:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032276m +[05/11 02:57:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:57:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:57:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82739736 0.53924802 0.03227582] yaw=-167.4deg +[05/11 02:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85671526 0.29915667 0.03227582] yaw=156.4deg +[05/11 02:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:57:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:57:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77188782 0.13267965 0.03227582] yaw=170.4deg +[05/11 02:57:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:57:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:57:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.8ms, total=247.8ms +[05/11 02:57:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.539, 0.032) +[05/11 02:57:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg +[05/11 02:57:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.877m +[05/11 02:57:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:57:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:57:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:57:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:57:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:57:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 02:57:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s +[05/11 02:57:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:57:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:57:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps +[05/11 02:57:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True +[05/11 02:57:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.428[m] 85.622[deg] +[05/11 02:57:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:57:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:57:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:58:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:58:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:59:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/11 03:00:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:00:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 03:00:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:00:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:00:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:00:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.73s (batch: 4.53s, save: 8.20s) +[05/11 03:00:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s: + episode_total: mean=208.73s, total=208.73s, count=1, min=208726.2ms, max=208726.2ms + sensor_polling: mean=515.1ms, total=154.54s, count=300, min=438.0ms, max=908.4ms + save_trajectories: mean=8.20s, total=8.20s, count=1, min=8195.0ms, max=8195.0ms + physics_step: mean=24.0ms, total=7.19s, count=300, min=18.0ms, max=58.6ms + save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4530.5ms, max=4530.5ms + task_sampling: mean=506.4ms, total=506.4ms, count=1, min=506.4ms, max=506.4ms + task_specific_sample: mean=502.5ms, total=502.5ms, count=1, min=502.5ms, max=502.5ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=531.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:00:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:00:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:00:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:00:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:00:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:00:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:00:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:00:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:00:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:00:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:00:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) +[05/11 03:00:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:00:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:00:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003110m +[05/11 03:00:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:00:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:00:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:00:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:00:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:00:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:00:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94693642 0.56150217 0.00310969] yaw=-173.2deg +[05/11 03:00:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:00:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:00:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82445238 0.91273533 0.00310969] yaw=-147.4deg +[05/11 03:00:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:00:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:00:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=393.4ms, total=393.4ms +[05/11 03:00:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.947, 0.562, 0.003) +[05/11 03:00:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg +[05/11 03:00:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.760m +[05/11 03:00:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:00:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:00:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:00:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:00:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:00:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 03:00:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.144s +[05/11 03:00:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:00:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:00:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps +[05/11 03:00:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True +[05/11 03:00:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.305[m] 87.262[deg] +[05/11 03:00:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:01:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:03:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/11 03:03:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:03:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 03:03:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 282 timesteps +[05/11 03:04:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:04:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:04:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 14.43s (batch: 4.59s, save: 9.85s) +[05/11 03:04:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.74s: + episode_total: mean=204.64s, total=204.64s, count=1, min=204639.0ms, max=204639.0ms + sensor_polling: mean=521.1ms, total=146.42s, count=281, min=447.2ms, max=1060.1ms + save_trajectories: mean=9.85s, total=9.85s, count=1, min=9845.3ms, max=9845.3ms + physics_step: mean=26.8ms, total=7.54s, count=281, min=18.2ms, max=100.4ms + save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4587.7ms, max=4587.7ms + task_sampling: mean=744.1ms, total=744.1ms, count=1, min=744.1ms, max=744.1ms + task_specific_sample: mean=739.2ms, total=739.2ms, count=1, min=739.2ms, max=739.2ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=742.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=18.3us, 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 +[05/11 03:04:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:04:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:04:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:04:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:04:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:04:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:04:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m) +[05/11 03:04:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:04:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:04:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087360m +[05/11 03:04:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:04:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:04:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92874538 1.03523613 0.08736023] yaw=-148.7deg +[05/11 03:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96007145 0.28736269 0.08736023] yaw=160.6deg +[05/11 03:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92292985 0.38958348 0.08736023] yaw=179.1deg +[05/11 03:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:04:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:04:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.4ms, total=134.4ms +[05/11 03:04:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.035, 0.087) +[05/11 03:04:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.7 deg +[05/11 03:04:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.951m +[05/11 03:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:04:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:04:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 03:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.199s +[05/11 03:04:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:04:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:04:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.190s, found 88 non-colliding grasps +[05/11 03:04:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.142s, found feasible grasp: True +[05/11 03:04:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.527[m] 86.907[deg] +[05/11 03:04:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:06:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True +[05/11 03:07:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:07:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 03:07:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:07:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:07:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:07:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.96s (batch: 4.99s, save: 8.96s) +[05/11 03:07:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.59s: + episode_total: mean=210.28s, total=210.28s, count=1, min=210282.1ms, max=210282.1ms + sensor_polling: mean=515.5ms, total=154.64s, count=300, min=441.8ms, max=1211.1ms + save_trajectories: mean=8.96s, total=8.96s, count=1, min=8963.9ms, max=8963.9ms + physics_step: mean=23.8ms, total=7.13s, count=300, min=15.8ms, max=64.2ms + save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4994.2ms, max=4994.2ms + task_sampling: mean=586.8ms, total=586.8ms, count=1, min=586.8ms, max=586.8ms + task_specific_sample: mean=582.1ms, total=582.1ms, count=1, min=582.1ms, max=582.1ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=623.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=41.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:07:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:07:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:07:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:07:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:07:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:07:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:07:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:07:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:07:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:07:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:07:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) +[05/11 03:07:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:07:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:07:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064738m +[05/11 03:07:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:07:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:07:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:07:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:07:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70088042 0.4327585 0.06473847] yaw=173.7deg +[05/11 03:07:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:07:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.880786 1.0714763 0.06473847] yaw=-143.0deg +[05/11 03:07:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:07:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:07:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:07:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93744817 0.68815013 0.06473847] yaw=-163.8deg +[05/11 03:07:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:07:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:07:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.1ms, total=149.2ms +[05/11 03:07:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.433, 0.065) +[05/11 03:07:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.7 deg +[05/11 03:07:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.003m +[05/11 03:07:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:07:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:07:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:07:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:07:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:07:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/11 03:07:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s +[05/11 03:07:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:07:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:07:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps +[05/11 03:07:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.613s, found feasible grasp: True +[05/11 03:07:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.548[m] 89.301[deg] +[05/11 03:07:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:07:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:07:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:08:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:10:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/11 03:10:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:10:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 03:10:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:11:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:11:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:11:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.61s (batch: 4.19s, save: 9.41s) +[05/11 03:11:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.46s: + episode_total: mean=209.84s, total=209.84s, count=1, min=209837.2ms, max=209837.2ms + sensor_polling: mean=518.1ms, total=155.43s, count=300, min=440.7ms, max=940.8ms + save_trajectories: mean=9.41s, total=9.41s, count=1, min=9413.6ms, max=9413.6ms + physics_step: mean=27.2ms, total=8.16s, count=300, min=16.5ms, max=118.1ms + save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4191.9ms, max=4191.9ms + task_sampling: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms + task_specific_sample: mean=456.2ms, total=456.2ms, count=1, min=456.2ms, max=456.2ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=622.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.4us, 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 +[05/11 03:11:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:11:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:11:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:11:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:11:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:11:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:11:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:11:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:11:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:11:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:11:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) +[05/11 03:11:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:11:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:11:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000137m +[05/11 03:11:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:11:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:11:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:11:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:11:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-9.05183132e-01 2.40542906e-01 1.37186199e-04] yaw=172.5deg +[05/11 03:11:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:11:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:11:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:11:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-9.95155923e-01 8.98214722e-01 1.37186199e-04] yaw=-159.0deg +[05/11 03:11:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:11:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:11:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=415.3ms, total=415.3ms +[05/11 03:11:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.241, 0.000) +[05/11 03:11:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.5 deg +[05/11 03:11:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.833m +[05/11 03:11:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:11:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:11:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:11:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:11:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:11:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 03:11:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.158s +[05/11 03:11:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:11:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:11:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps +[05/11 03:11:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.149s, found feasible grasp: True +[05/11 03:11:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.374[m] 86.570[deg] +[05/11 03:11:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:11:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:12:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:12:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:13:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:13:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:13:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:13:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:13:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:13:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:13:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:13:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps +[05/11 03:13:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.421s, found feasible grasp: True +[05/11 03:13:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.988[deg] +[05/11 03:13:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:13:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:13:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:13:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:13:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:13:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:14:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True +[05/11 03:14:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:14:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 2/4: 1 episodes +[05/11 03:14:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:14:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:14:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:14:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.53s (batch: 4.89s, save: 8.65s) +[05/11 03:14:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.84s: + episode_total: mean=222.54s, total=222.54s, count=1, min=222538.7ms, max=222538.7ms + sensor_polling: mean=484.5ms, total=145.34s, count=300, min=419.3ms, max=1028.8ms + save_trajectories: mean=8.65s, total=8.65s, count=1, min=8646.5ms, max=8646.5ms + physics_step: mean=23.9ms, total=7.16s, count=300, min=17.6ms, max=53.9ms + save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4888.2ms, max=4888.2ms + task_sampling: mean=836.4ms, total=836.4ms, count=1, min=836.4ms, max=836.4ms + task_specific_sample: mean=832.1ms, total=832.1ms, count=1, min=832.1ms, max=832.1ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=511.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.8us, 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 +[05/11 03:14:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014 +[05/11 03:14:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014 +[05/11 03:14:56 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/15 successful episodes +[05/11 03:14:56 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/15 successful, 15 episodes, total_time=5796.75s + House averages: + episode_total: mean=176.08s, total=3169.42s, count=18, min=3729.4ms, max=222538.7ms + sensor_polling: mean=473.0ms, total=2322.62s, count=4910, min=364.9ms, max=1211.1ms + save_trajectories: mean=8.73s, total=113.49s, count=13, min=7293.8ms, max=10051.7ms + physics_step: mean=22.4ms, total=109.82s, count=4910, min=12.6ms, max=118.1ms + save_batch_prep: mean=4.21s, total=54.77s, count=13, min=3524.3ms, max=4994.2ms + task_sampling: mean=639.4ms, total=11.51s, count=18, min=318.4ms, max=3236.2ms + task_specific_sample: mean=480.6ms, total=8.65s, count=18, min=315.7ms, max=832.1ms + scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms + scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms + scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms + compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms + compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms + scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms + compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.1ms, max=3.3ms + scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms + asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms + mj_forward_sync: mean=464.0us, total=8.4ms, count=18, min=0.4ms, max=0.7ms + asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 03:14:56 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 03:14:56 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5796.75s + Worker averages: + episode_total: mean=176.08s, total=3169.42s, count=18, min=3729.4ms, max=222538.7ms + sensor_polling: mean=473.0ms, total=2322.62s, count=4910, min=364.9ms, max=1211.1ms + save_trajectories: mean=8.73s, total=113.49s, count=13, min=7293.8ms, max=10051.7ms + physics_step: mean=22.4ms, total=109.82s, count=4910, min=12.6ms, max=118.1ms + save_batch_prep: mean=4.21s, total=54.77s, count=13, min=3524.3ms, max=4994.2ms + task_sampling: mean=639.4ms, total=11.51s, count=18, min=318.4ms, max=3236.2ms + task_specific_sample: mean=480.6ms, total=8.65s, count=18, min=315.7ms, max=832.1ms + scene_load: mean=2.79s, total=2.79s, count=1, min=2792.7ms, max=2792.7ms + scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.5ms, max=1934.5ms + scene_compile: mean=762.0ms, total=762.0ms, count=1, min=762.0ms, max=762.0ms + compile_mujoco: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms + compile_xml_load: mean=130.4ms, total=130.4ms, count=1, min=130.4ms, max=130.4ms + scene_init: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms + compile_aux_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + compile_aux_policy_objects: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms + scene_randomize: mean=2.2ms, total=40.0ms, count=18, min=1.1ms, max=3.3ms + scene_asset_install: mean=36.6ms, total=36.6ms, count=1, min=36.6ms, max=36.6ms + asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms + mj_forward_sync: mean=464.0us, total=8.4ms, count=18, min=0.4ms, max=0.7ms + asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms + compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 03:14:59 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 03:14:59 INFO pipeline.py:1491] Success count: 13, Total count: 15 +[05/11 03:14:59 INFO pipeline.py:1492] Success rate: 86.67% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_014 +========================================== diff --git a/fridge_7/chunk_014/shard_3_of_4.log b/fridge_7/chunk_014/shard_3_of_4.log index cd19b913d4f5f8431cb45824eb935bd46d52f230..089dff82745c8b96286c6bc232cffc24549b891c 100644 --- a/fridge_7/chunk_014/shard_3_of_4.log +++ b/fridge_7/chunk_014/shard_3_of_4.log @@ -1322,3 +1322,503 @@ ValueError: IK failed for pregrasp pose [05/11 02:53:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 [05/11 02:53:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 [05/11 02:53:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:53:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:53:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:53:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:53:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:53:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:53:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:53:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:53:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:53:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps +[05/11 02:53:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.452s, found feasible grasp: False +[05/11 02:53:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: No feasible grasp found +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses + grasp_pose_world = compute_grasp_pose( + ^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose + raise ValueError("No feasible grasp found") +ValueError: No feasible grasp found +[05/11 02:53:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:53:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:53:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:53:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:53:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:53:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:53:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:53:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m) +[05/11 02:53:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:53:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:53:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041465m +[05/11 02:53:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:53:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:53:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:53:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 158.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:53:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72908431 0.5880447 0.04146533] yaw=-179.2deg +[05/11 02:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9561162 1.16206869 0.04146533] yaw=-131.1deg +[05/11 02:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:53:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92749545 0.68286612 0.04146533] yaw=-160.5deg +[05/11 02:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:53:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:53:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.5ms, total=147.5ms +[05/11 02:53:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.588, 0.041) +[05/11 02:53:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.2 deg +[05/11 02:53:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.979m +[05/11 02:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:53:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:53:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:53:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 02:53:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s +[05/11 02:53:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:53:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:53:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps +[05/11 02:53:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.502s, found feasible grasp: True +[05/11 02:53:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.561[m] 97.769[deg] +[05/11 02:53:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:54:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:54:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:56:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True +[05/11 02:56:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:56:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes +[05/11 02:56:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:56:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:56:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:56:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.19s (batch: 4.85s, save: 8.33s) +[05/11 02:56:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.73s: + episode_total: mean=154.55s, total=309.10s, count=2, min=120135.5ms, max=188969.2ms + sensor_polling: mean=462.6ms, total=238.68s, count=516, min=386.5ms, max=917.8ms + physics_step: mean=22.6ms, total=11.68s, count=516, min=17.0ms, max=59.0ms + save_trajectories: mean=8.33s, total=8.33s, count=1, min=8334.2ms, max=8334.2ms + save_batch_prep: mean=4.85s, total=4.85s, count=1, min=4855.0ms, max=4855.0ms + task_sampling: mean=363.6ms, total=727.2ms, count=2, min=329.2ms, max=398.0ms + task_specific_sample: mean=360.3ms, total=720.6ms, count=2, min=325.8ms, max=394.9ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.6ms, max=2.3ms + mj_forward_sync: mean=380.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 02:56:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:56:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:56:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:56:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:56:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:56:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:56:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m) +[05/11 02:56:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:56:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:56:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008905m +[05/11 02:56:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:56:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:56:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 110.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98486534 0.1246059 0.00890527] yaw=156.8deg +[05/11 02:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9042199 0.65800408 0.00890527] yaw=-175.5deg +[05/11 02:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 96.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7929734 0.33748672 0.00890527] yaw=162.2deg +[05/11 02:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:56:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:56:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.4ms, total=214.4ms +[05/11 02:56:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.125, 0.009) +[05/11 02:56:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.8 deg +[05/11 02:56:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m +[05/11 02:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:56:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:56:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 02:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.099s +[05/11 02:56:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:56:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:56:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 02:56:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True +[05/11 02:56:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.421[m] 99.411[deg] +[05/11 02:56:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:56:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:56:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:57:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:57:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:57:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:58:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:58:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:58:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:58:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:58:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:59:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:59:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:59:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:59:03 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:59:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:59:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:59:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:59:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps +[05/11 02:59:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.413s, found feasible grasp: True +[05/11 02:59:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.184[deg] +[05/11 02:59:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:59:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:59:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:59:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:59:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:59:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:59:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:59:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:59:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:59:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 02:59:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:59:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:59:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps +[05/11 02:59:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.046s, found feasible grasp: True +[05/11 02:59:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.927[deg] +[05/11 02:59:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:59:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:59:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:59:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:00:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True +[05/11 03:00:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:00:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes +[05/11 03:00:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:00:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:00:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:00:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.67s (batch: 4.20s, save: 9.46s) +[05/11 03:00:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.56s: + episode_total: mean=245.53s, total=245.53s, count=1, min=245529.6ms, max=245529.6ms + sensor_polling: mean=532.6ms, total=159.79s, count=300, min=454.2ms, max=973.2ms + save_trajectories: mean=9.46s, total=9.46s, count=1, min=9462.3ms, max=9462.3ms + physics_step: mean=25.6ms, total=7.69s, count=300, min=17.0ms, max=83.5ms + save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4204.9ms, max=4204.9ms + task_sampling: mean=564.8ms, total=564.8ms, count=1, min=564.8ms, max=564.8ms + task_specific_sample: mean=560.9ms, total=560.9ms, count=1, min=560.9ms, max=560.9ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=421.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:00:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:00:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:00:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:00:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:00:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:00:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:00:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:00:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:00:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:00:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:00:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) +[05/11 03:00:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:00:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:00:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094541m +[05/11 03:00:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:00:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:00:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:00:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:00:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:00:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:00:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74920444 0.85812935 0.09454065] yaw=-149.9deg +[05/11 03:00:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:00:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:00:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91062264 1.05030486 0.09454065] yaw=-146.2deg +[05/11 03:00:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:00:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:00:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=286.4ms, total=286.5ms +[05/11 03:00:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.858, 0.095) +[05/11 03:00:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg +[05/11 03:00:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.025m +[05/11 03:00:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:00:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:00:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:00:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:00:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:00:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 03:00:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.187s +[05/11 03:00:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:00:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:00:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps +[05/11 03:00:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.315s, found feasible grasp: True +[05/11 03:00:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.655[m] 96.973[deg] +[05/11 03:00:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:00:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:00:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:02:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:02:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:02:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000 +[05/11 03:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:02:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:02:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:02:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps +[05/11 03:02:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.426s, found feasible grasp: True +[05/11 03:02:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.556[deg] +[05/11 03:02:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:02:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:02:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:03:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:03:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:03:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=False +[05/11 03:03:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=False episode_total=0.68s: + episode_total: mean=170.32s, total=170.32s, count=1, min=170320.4ms, max=170320.4ms + sensor_polling: mean=506.8ms, total=152.04s, count=300, min=438.9ms, max=1051.4ms + physics_step: mean=25.1ms, total=7.53s, count=300, min=18.1ms, max=94.2ms + task_sampling: mean=682.4ms, total=682.4ms, count=1, min=682.4ms, max=682.4ms + task_specific_sample: mean=674.1ms, total=674.1ms, count=1, min=674.1ms, max=674.1ms + mj_forward_sync: mean=4.5ms, total=4.5ms, count=1, min=4.5ms, max=4.5ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + policy_setup: mean=19.3us, 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 +[05/11 03:03:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:03:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:03:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:03:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:03:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:03:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:03:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:03:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:03:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:03:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:03:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) +[05/11 03:03:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:03:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:03:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017881m +[05/11 03:03:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:03:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:03:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:03:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:03:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92484502 0.52670293 0.01788072] yaw=-186.1deg +[05/11 03:03:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:03:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.15183148 1.14745023 0.01788072] yaw=-119.1deg +[05/11 03:03:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:03:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76158424 0.47126797 0.01788072] yaw=178.1deg +[05/11 03:03:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:03:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:03:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.0ms, total=254.0ms +[05/11 03:03:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.527, 0.018) +[05/11 03:03:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -186.1 deg +[05/11 03:03:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.779m +[05/11 03:03:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:03:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:03:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:03:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:03:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:03:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/11 03:03:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.068s +[05/11 03:03:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:03:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:03:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 03:03:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True +[05/11 03:03:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.339[m] 88.616[deg] +[05/11 03:03:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:04:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:04:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:06:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True +[05/11 03:06:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:06:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes +[05/11 03:06:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps +[05/11 03:07:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:07:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:07:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 13.49s (batch: 4.53s, save: 8.96s) +[05/11 03:07:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.52s: + episode_total: mean=206.45s, total=206.45s, count=1, min=206453.0ms, max=206453.0ms + sensor_polling: mean=521.0ms, total=150.05s, count=288, min=439.9ms, max=851.2ms + save_trajectories: mean=8.96s, total=8.96s, count=1, min=8959.7ms, max=8959.7ms + physics_step: mean=27.9ms, total=8.04s, count=288, min=16.0ms, max=95.1ms + save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4527.6ms, max=4527.6ms + task_sampling: mean=515.8ms, total=515.8ms, count=1, min=515.8ms, max=515.8ms + task_specific_sample: mean=512.5ms, total=512.5ms, count=1, min=512.5ms, max=512.5ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=486.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=16.6us, 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 +[05/11 03:07:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:07:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:07:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:07:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:07:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:07:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:07:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:07:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:07:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:07:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:07:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) +[05/11 03:07:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:07:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:07:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010893m +[05/11 03:07:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:07:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:07:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:07:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96484687 0.95327753 0.01089252] yaw=-152.9deg +[05/11 03:07:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:07:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:07:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:07:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87740799 0.94725794 0.01089252] yaw=-154.5deg +[05/11 03:07:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:07:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.83820705 0.47311714 0.01089252] yaw=179.6deg +[05/11 03:07:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:07:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:07:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.8ms, total=104.9ms +[05/11 03:07:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.953, 0.011) +[05/11 03:07:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.9 deg +[05/11 03:07:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.875m +[05/11 03:07:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:07:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:07:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:07:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:07:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:07:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 03:07:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s +[05/11 03:07:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:07:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:07:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps +[05/11 03:07:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True +[05/11 03:07:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.468[m] 94.759[deg] +[05/11 03:07:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:07:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:07:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:08:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:08:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:08:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:10:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True +[05/11 03:10:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:10:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 3/4: 1 episodes +[05/11 03:10:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:10:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:10:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:10:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 17.48s (batch: 4.76s, save: 12.72s) +[05/11 03:10:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.45s: + episode_total: mean=216.51s, total=216.51s, count=1, min=216510.4ms, max=216510.4ms + sensor_polling: mean=534.2ms, total=160.26s, count=300, min=438.0ms, max=915.3ms + save_trajectories: mean=12.72s, total=12.72s, count=1, min=12717.6ms, max=12717.6ms + physics_step: mean=26.6ms, total=7.98s, count=300, min=15.0ms, max=132.0ms + save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4763.6ms, max=4763.6ms + task_sampling: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms + task_specific_sample: mean=442.1ms, total=442.1ms, count=1, min=442.1ms, max=442.1ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=564.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=22.4us, 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 +[05/11 03:10:46 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014 +[05/11 03:10:46 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014 +[05/11 03:10:46 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/12 successful episodes +[05/11 03:10:46 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5368.03s + House averages: + episode_total: mean=162.28s, total=2920.98s, count=18, min=2921.1ms, max=245529.6ms + sensor_polling: mean=476.1ms, total=2173.79s, count=4566, min=383.3ms, max=1051.4ms + physics_step: mean=23.3ms, total=106.48s, count=4566, min=13.2ms, max=132.0ms + save_trajectories: mean=8.53s, total=93.85s, count=11, min=7239.7ms, max=12717.6ms + save_batch_prep: mean=4.09s, total=45.03s, count=11, min=3453.3ms, max=4855.0ms + task_sampling: mean=655.2ms, total=11.79s, count=18, min=329.2ms, max=4017.8ms + task_specific_sample: mean=461.0ms, total=8.30s, count=18, min=325.8ms, max=674.1ms + scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms + scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms + compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms + scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms + compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms + compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.1ms, max=3.3ms + scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms + asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms + mj_forward_sync: mean=875.3us, total=15.8ms, count=18, min=0.4ms, max=4.5ms + asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + policy_setup: mean=20.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 03:10:46 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 03:10:46 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5368.03s + Worker averages: + episode_total: mean=162.28s, total=2920.98s, count=18, min=2921.1ms, max=245529.6ms + sensor_polling: mean=476.1ms, total=2173.79s, count=4566, min=383.3ms, max=1051.4ms + physics_step: mean=23.3ms, total=106.48s, count=4566, min=13.2ms, max=132.0ms + save_trajectories: mean=8.53s, total=93.85s, count=11, min=7239.7ms, max=12717.6ms + save_batch_prep: mean=4.09s, total=45.03s, count=11, min=3453.3ms, max=4855.0ms + task_sampling: mean=655.2ms, total=11.79s, count=18, min=329.2ms, max=4017.8ms + task_specific_sample: mean=461.0ms, total=8.30s, count=18, min=325.8ms, max=674.1ms + scene_load: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms + scene_env_create: mean=2.28s, total=2.28s, count=1, min=2278.9ms, max=2278.9ms + scene_compile: mean=839.8ms, total=839.8ms, count=1, min=839.8ms, max=839.8ms + compile_mujoco: mean=658.4ms, total=658.4ms, count=1, min=658.4ms, max=658.4ms + scene_init: mean=267.3ms, total=267.3ms, count=1, min=267.3ms, max=267.3ms + compile_xml_load: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms + compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms + scene_randomize: mean=2.1ms, total=37.1ms, count=18, min=1.1ms, max=3.3ms + scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms + asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms + mj_forward_sync: mean=875.3us, total=15.8ms, count=18, min=0.4ms, max=4.5ms + asset_install_objects: mean=7.8ms, total=7.8ms, count=1, min=7.8ms, max=7.8ms + compile_robot_add: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms + asset_install_scene: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + policy_setup: mean=20.3us, total=0.4ms, count=18, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 03:10:49 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 03:10:49 INFO pipeline.py:1491] Success count: 11, Total count: 12 +[05/11 03:10:49 INFO pipeline.py:1492] Success rate: 91.67% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_014 +========================================== diff --git a/fridge_7/chunk_014/shard_4_of_4.log b/fridge_7/chunk_014/shard_4_of_4.log index 03de06d5f975ab38de843a45cdc5d3ae7a420167..a1a75d9ddd735bfd0eead641c6778ebe0ff2dd5e 100644 --- a/fridge_7/chunk_014/shard_4_of_4.log +++ b/fridge_7/chunk_014/shard_4_of_4.log @@ -1221,3 +1221,558 @@ ValueError: IK failed for pregrasp pose [05/11 02:53:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 [05/11 02:53:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes [05/11 02:53:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:53:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:53:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:53:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 11.53s (batch: 3.76s, save: 7.77s) +[05/11 02:53:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.59s: + episode_total: mean=183.07s, total=183.07s, count=1, min=183069.2ms, max=183069.2ms + sensor_polling: mean=456.5ms, total=136.95s, count=300, min=382.3ms, max=722.6ms + save_trajectories: mean=7.77s, total=7.77s, count=1, min=7769.4ms, max=7769.4ms + physics_step: mean=21.2ms, total=6.35s, count=300, min=16.7ms, max=73.7ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3756.0ms, max=3756.0ms + task_sampling: mean=589.7ms, total=589.7ms, count=1, min=589.7ms, max=589.7ms + task_specific_sample: mean=585.7ms, total=585.7ms, count=1, min=585.7ms, max=585.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=452.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:53:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:53:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:53:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:53:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:53:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:53:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:53:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:53:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:53:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:53:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:53:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) +[05/11 02:53:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:53:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:53:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075768m +[05/11 02:53:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:53:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:53:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:53:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73387825 0.98322963 0.0757682 ] yaw=-158.4deg +[05/11 02:53:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:53:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:53:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:53:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:53:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:53:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:53:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=134.5ms, total=134.5ms +[05/11 02:53:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.734, 0.983, 0.076) +[05/11 02:53:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg +[05/11 02:53:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.090m +[05/11 02:53:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:53:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:53:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:53:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:53:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:53:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 02:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s +[05/11 02:53:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:53:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:53:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps +[05/11 02:53:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.481s, found feasible grasp: True +[05/11 02:53:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.661[m] 84.564[deg] +[05/11 02:53:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:53:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:53:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:54:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:54:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:54:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:56:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True +[05/11 02:56:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:56:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes +[05/11 02:56:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 02:56:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 02:56:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 02:56:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.97s (batch: 4.16s, save: 8.81s) +[05/11 02:56:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.42s: + episode_total: mean=189.10s, total=189.10s, count=1, min=189100.9ms, max=189100.9ms + sensor_polling: mean=463.6ms, total=139.07s, count=300, min=378.4ms, max=901.7ms + save_trajectories: mean=8.81s, total=8.81s, count=1, min=8811.5ms, max=8811.5ms + physics_step: mean=21.7ms, total=6.50s, count=300, min=16.6ms, max=48.5ms + save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.0ms, max=4158.0ms + task_sampling: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms + task_specific_sample: mean=416.9ms, total=416.9ms, count=1, min=416.9ms, max=416.9ms + scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms + mj_forward_sync: mean=525.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 02:56:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:56:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:56:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:56:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:56:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:56:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:56:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:56:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:56:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:56:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m) +[05/11 02:56:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:56:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:56:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091681m +[05/11 02:56:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:56:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:56:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:56:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:56:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:56:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:56:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:56:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92975541 1.14701302 0.09168103] yaw=-136.8deg +[05/11 02:56:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:56:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08287859 1.03911609 0.09168103] yaw=-127.0deg +[05/11 02:56:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:56:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9467349 0.56959405 0.09168103] yaw=-178.6deg +[05/11 02:56:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:56:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:56:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=235.3ms, total=235.4ms +[05/11 02:56:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.930, 1.147, 0.092) +[05/11 02:56:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.8 deg +[05/11 02:56:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.019m +[05/11 02:56:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:56:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:56:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:56:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:56:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3 +[05/11 02:56:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s +[05/11 02:56:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:56:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:56:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps +[05/11 02:56:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.641s, found feasible grasp: True +[05/11 02:56:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.579[m] 91.471[deg] +[05/11 02:56:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 02:57:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 02:58:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 02:58:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 02:59:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 02:59:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 02:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 02:59:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 02:59:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 02:59:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 02:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 02:59:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 02:59:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 02:59:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 02:59:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:59:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:59:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps +[05/11 02:59:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.703s, found feasible grasp: True +[05/11 02:59:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.300[deg] +[05/11 02:59:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 02:59:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 02:59:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 02:59:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 02:59:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:59:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:59:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:59:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:59:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 02:59:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 02:59:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 02:59:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m) +[05/11 02:59:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 02:59:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 02:59:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015805m +[05/11 02:59:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 02:59:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 02:59:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 02:59:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01422068 1.17127059 0.01580467] yaw=-133.4deg +[05/11 02:59:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 02:59:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:59:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 02:59:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88406195 1.17046951 0.01580467] yaw=-144.7deg +[05/11 02:59:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 02:59:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81610975 0.68740432 0.01580467] yaw=-160.4deg +[05/11 02:59:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 02:59:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 02:59:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.4ms, total=229.5ms +[05/11 02:59:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.014, 1.171, 0.016) +[05/11 02:59:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg +[05/11 02:59:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.974m +[05/11 02:59:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 02:59:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 02:59:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 02:59:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 02:59:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 02:59:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3 +[05/11 02:59:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.061s +[05/11 02:59:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 02:59:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 02:59:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps +[05/11 02:59:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.292s, found feasible grasp: True +[05/11 02:59:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.618[m] 96.443[deg] +[05/11 02:59:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 02:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 02:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:00:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:00:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:01:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:01:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:02:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:02:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:02:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:02:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:02:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:02:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:02:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:02:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:02:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:02:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:02:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps +[05/11 03:02:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.615s, found feasible grasp: True +[05/11 03:02:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.106[m] 0.882[deg] +[05/11 03:02:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:02:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:02:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:02:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:02:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False +[05/11 03:02:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=False episode_total=1.08s: + episode_total: mean=175.97s, total=351.94s, count=2, min=172258.0ms, max=179678.0ms + sensor_polling: mean=518.8ms, total=298.30s, count=575, min=424.6ms, max=1022.0ms + physics_step: mean=25.0ms, total=14.37s, count=575, min=17.8ms, max=105.4ms + task_sampling: mean=540.4ms, total=1.08s, count=2, min=487.4ms, max=593.4ms + task_specific_sample: mean=536.2ms, total=1.07s, count=2, min=484.2ms, max=588.3ms + scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=1.3ms, max=3.5ms + mj_forward_sync: mean=526.7us, total=1.1ms, count=2, min=0.4ms, max=0.6ms + policy_setup: mean=17.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 03:02:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:02:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:02:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:02:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:02:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:02:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:02:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:02:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:02:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:02:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:02:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) +[05/11 03:02:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:02:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:02:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005910m +[05/11 03:02:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:02:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:02:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:02:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:02:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:02:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:02:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:02:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92339016 0.82842172 0.00591015] yaw=-147.0deg +[05/11 03:02:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:02:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61444264 0.47013764 0.00591015] yaw=175.2deg +[05/11 03:02:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:02:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:02:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.7ms, total=188.7ms +[05/11 03:02:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.923, 0.828, 0.006) +[05/11 03:02:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.0 deg +[05/11 03:02:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.853m +[05/11 03:02:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:02:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:02:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:02:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:02:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3 +[05/11 03:02:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s +[05/11 03:02:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:02:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:02:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 03:02:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True +[05/11 03:02:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.387[m] 83.799[deg] +[05/11 03:02:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:03:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:03:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:03:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:05:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True +[05/11 03:05:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:05:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes +[05/11 03:05:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 299 timesteps +[05/11 03:06:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:06:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:06:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 12.64s (batch: 4.44s, save: 8.20s) +[05/11 03:06:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.47s: + episode_total: mean=205.70s, total=205.70s, count=1, min=205695.2ms, max=205695.2ms + sensor_polling: mean=526.5ms, total=156.89s, count=298, min=440.5ms, max=951.6ms + save_trajectories: mean=8.20s, total=8.20s, count=1, min=8198.0ms, max=8198.0ms + physics_step: mean=27.1ms, total=8.08s, count=298, min=16.1ms, max=132.6ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4443.2ms, max=4443.2ms + task_sampling: mean=469.6ms, total=469.6ms, count=1, min=469.6ms, max=469.6ms + task_specific_sample: mean=466.0ms, total=466.0ms, count=1, min=466.0ms, max=466.0ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=437.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.3us, 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 +[05/11 03:06:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:06:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:06:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:06:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:06:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:06:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:06:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:06:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:06:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:06:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:06:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m) +[05/11 03:06:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:06:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:06:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014150m +[05/11 03:06:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:06:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:06:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:06:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:06:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.19987842 1.06670778 0.01414984] yaw=-137.4deg +[05/11 03:06:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:06:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85859254 0.80293895 0.01414984] yaw=-158.4deg +[05/11 03:06:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:06:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02140141 0.98655105 0.01414984] yaw=-145.9deg +[05/11 03:06:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:06:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:06:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.6ms, total=139.6ms +[05/11 03:06:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.200, 1.067, 0.014) +[05/11 03:06:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.4 deg +[05/11 03:06:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.771m +[05/11 03:06:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:06:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:06:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:06:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:06:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:06:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3 +[05/11 03:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s +[05/11 03:06:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:06:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:06:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 03:06:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True +[05/11 03:06:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.326[m] 81.870[deg] +[05/11 03:06:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:06:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:06:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:06:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:08:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:08:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:08:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:08:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:08:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:08:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:08:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:08:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:08:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:08:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 76 non-colliding grasps +[05/11 03:08:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.535s, found feasible grasp: True +[05/11 03:08:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.260[deg] +[05/11 03:08:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:08:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:08:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:08:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:08:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:08:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:08:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:08:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:08:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:08:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:08:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:08:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) +[05/11 03:08:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:08:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:08:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078725m +[05/11 03:08:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:08:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:08:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:08:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:08:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07308295 0.95469075 0.07872473] yaw=-140.3deg +[05/11 03:08:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:08:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:08:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03448662 0.12196193 0.07872473] yaw=157.4deg +[05/11 03:08:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:08:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:08:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68446894 0.30029017 0.07872473] yaw=158.6deg +[05/11 03:08:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:08:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:08:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.6ms, total=195.6ms +[05/11 03:08:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.073, 0.955, 0.079) +[05/11 03:08:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.3 deg +[05/11 03:08:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.787m +[05/11 03:08:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:08:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:08:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:08:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:08:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:08:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3 +[05/11 03:08:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s +[05/11 03:08:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:08:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:08:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.097s, found 88 non-colliding grasps +[05/11 03:08:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.796s, found feasible grasp: True +[05/11 03:08:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.346[m] 80.677[deg] +[05/11 03:08:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:08:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:08:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:09:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:09:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:11:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True +[05/11 03:11:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:11:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_014 batch 4/4: 1 episodes +[05/11 03:11:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 291 timesteps +[05/11 03:11:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:11:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_014 +[05/11 03:11:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_014 in 14.61s (batch: 5.62s, save: 9.00s) +[05/11 03:11:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.91s: + episode_total: mean=174.05s, total=348.10s, count=2, min=149130.8ms, max=198969.2ms + sensor_polling: mean=520.0ms, total=274.54s, count=528, min=429.1ms, max=1065.3ms + physics_step: mean=24.9ms, total=13.16s, count=528, min=15.5ms, max=107.6ms + save_trajectories: mean=9.00s, total=9.00s, count=1, min=8997.7ms, max=8997.7ms + save_batch_prep: mean=5.62s, total=5.62s, count=1, min=5616.5ms, max=5616.5ms + task_sampling: mean=456.3ms, total=912.5ms, count=2, min=431.6ms, max=481.0ms + task_specific_sample: mean=452.4ms, total=904.9ms, count=2, min=427.7ms, max=477.2ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms + mj_forward_sync: mean=417.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 03:11:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014 +[05/11 03:11:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_014 +[05/11 03:11:56 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/11 successful episodes +[05/11 03:11:56 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=5553.87s + House averages: + episode_total: mean=166.15s, total=2990.64s, count=18, min=4505.4ms, max=224189.0ms + sensor_polling: mean=473.8ms, total=2298.55s, count=4851, min=378.3ms, max=1065.3ms + physics_step: mean=22.3ms, total=108.39s, count=4851, min=12.4ms, max=143.6ms + save_trajectories: mean=8.71s, total=87.09s, count=10, min=7687.3ms, max=9791.8ms + save_batch_prep: mean=4.10s, total=41.05s, count=10, min=3621.9ms, max=5616.5ms + task_sampling: mean=652.8ms, total=11.75s, count=18, min=303.2ms, max=4119.6ms + task_specific_sample: mean=456.8ms, total=8.22s, count=18, min=300.3ms, max=662.0ms + scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms + scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms + scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms + compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms + compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms + scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms + scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms + compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=6.7ms + asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms + mj_forward_sync: mean=604.7us, total=10.9ms, count=18, min=0.4ms, max=3.1ms + compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + policy_setup: mean=21.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 03:11:56 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses +[05/11 03:11:56 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5553.87s + Worker averages: + episode_total: mean=166.15s, total=2990.64s, count=18, min=4505.4ms, max=224189.0ms + sensor_polling: mean=473.8ms, total=2298.55s, count=4851, min=378.3ms, max=1065.3ms + physics_step: mean=22.3ms, total=108.39s, count=4851, min=12.4ms, max=143.6ms + save_trajectories: mean=8.71s, total=87.09s, count=10, min=7687.3ms, max=9791.8ms + save_batch_prep: mean=4.10s, total=41.05s, count=10, min=3621.9ms, max=5616.5ms + task_sampling: mean=652.8ms, total=11.75s, count=18, min=303.2ms, max=4119.6ms + task_specific_sample: mean=456.8ms, total=8.22s, count=18, min=300.3ms, max=662.0ms + scene_load: mean=3.45s, total=3.45s, count=1, min=3452.3ms, max=3452.3ms + scene_env_create: mean=2.11s, total=2.11s, count=1, min=2109.1ms, max=2109.1ms + scene_compile: mean=1.07s, total=1.07s, count=1, min=1070.5ms, max=1070.5ms + compile_mujoco: mean=742.3ms, total=742.3ms, count=1, min=742.3ms, max=742.3ms + compile_xml_load: mean=237.3ms, total=237.3ms, count=1, min=237.3ms, max=237.3ms + scene_init: mean=184.5ms, total=184.5ms, count=1, min=184.5ms, max=184.5ms + scene_asset_install: mean=87.8ms, total=87.8ms, count=1, min=87.8ms, max=87.8ms + compile_aux_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + compile_aux_policy_objects: mean=73.2ms, total=73.2ms, count=1, min=73.2ms, max=73.2ms + asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms + scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=6.7ms + asset_install_objects: mean=32.1ms, total=32.1ms, count=1, min=32.1ms, max=32.1ms + mj_forward_sync: mean=604.7us, total=10.9ms, count=18, min=0.4ms, max=3.1ms + compile_robot_add: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms + asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms + policy_setup: mean=21.6us, total=0.4ms, count=18, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms +[05/11 03:11:59 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses +[05/11 03:11:59 INFO pipeline.py:1491] Success count: 10, Total count: 11 +[05/11 03:11:59 INFO pipeline.py:1492] Success rate: 90.91% +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes +========================================== +Done. 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sha256:d946d0fe581a7bf4f8182a802dcd2454006eb7f96e617e67dc5efae0e851ca16 +size 8011 diff --git a/fridge_7/chunk_015/running_log.log b/fridge_7/chunk_015/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..97f9ab96c47ed20aedeb8507e12eb469c568c6a8 --- /dev/null +++ b/fridge_7/chunk_015/running_log.log @@ -0,0 +1,4281 @@ +05/11 03:15:34 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 03:15:34 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 03:15:34 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 03:15:34 INFO: {'batch_num': 2, + '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_7/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_7', + 'seed': 21502, + '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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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] +05/11 03:15:34 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] +05/11 03:15:34 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 03:15:34 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 03:15:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 03:15:35 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 03:15:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 03:15:35 INFO: {'batch_num': 4, + '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_7/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_7', + 'seed': 21504, + '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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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] +05/11 03:15:35 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] +05/11 03:15:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 03:15:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 03:15:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 03:15:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 03:15:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 03:15:35 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 03:15:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 03:15:35 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_7/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_7', + 'seed': 21501, + '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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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] +05/11 03:15:35 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] +05/11 03:15:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 03:15:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 03:15:35 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/11 03:15:35 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes [pipeline.py: 1359] +05/11 03:15:35 INFO: Evaluation configuration: [pipeline.py: 1366] +05/11 03:15:35 INFO: {'batch_num': 3, + '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_7/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_7', + 'seed': 21503, + '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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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] +05/11 03:15:35 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] +05/11 03:15:35 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/11 03:15:35 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/11 03:15:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 03:15:36 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/11 03:15:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 03:15:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 03:15:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 03:15:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 03:15:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 03:15:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 03:15:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 03:15:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 03:15:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:15:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:15:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:15:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:15:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:15:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:15:38 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: 178] +05/11 03:15:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:15:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053116m [env.py: 870] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:15:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 03:15:38 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: 178] +05/11 03:15:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:15:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000292m [env.py: 870] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:15:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73532587 0.48650399 0.05311641] yaw=-179.4deg [env.py: 1019] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:15:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 03:15:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92200682 0.36569954 0.05311641] yaw=161.3deg [env.py: 1019] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.00555496e-01 8.00358475e-01 2.92137039e-04] yaw=-168.3deg [env.py: 1019] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96183297 1.07207804 0.05311641] yaw=-147.9deg [env.py: 1019] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:15:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=12.7ms, retries=155.6ms, total=168.3ms [env.py: 1075] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.487, 0.053) [env.py: 1079] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.4 deg [env.py: 1082] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 03:15:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 03:15:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:15:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:15:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:15:38 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: 178] +05/11 03:15:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:15:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007136m [env.py: 870] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:15:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:38 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml [task_sampler.py: 797] +05/11 03:15:38 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:15:38 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89961631 0.34573312 0.00713649] yaw=176.3deg [env.py: 1019] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95030226 0.22862237 0.00713649] yaw=169.5deg [env.py: 1019] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:15:38 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/11 03:15:38 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 926] +05/11 03:15:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:15:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97053286 1.19323584 0.00713649] yaw=-138.3deg [env.py: 1019] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:15:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=44.5ms, retries=418.9ms, total=463.5ms [env.py: 1075] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.346, 0.007) [env.py: 1079] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg [env.py: 1082] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:15:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:15:38 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: 178] +05/11 03:15:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:15:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053500m [env.py: 870] +05/11 03:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:15:38 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:15:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=12.7ms, retries=778.7ms, total=791.4ms [env.py: 1075] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.801, 0.800, 0.000) [env.py: 1079] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg [env.py: 1082] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13470108 1.04856485 0.0534998 ] yaw=-131.7deg [env.py: 1019] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6996168 0.1538073 0.0534998] yaw=166.5deg [env.py: 1019] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82678663 0.60492779 0.0534998 ] yaw=-174.0deg [env.py: 1019] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:15:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=86.6ms, retries=239.1ms, total=325.7ms [env.py: 1075] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.135, 1.049, 0.053) [env.py: 1079] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg [env.py: 1082] +05/11 03:15:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:15:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:15:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:15:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 03:15:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:15:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 03:15:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:15:39 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3 [pipeline.py: 1044] +05/11 03:16:06 INFO: [Worker 0] Warmed up parallel IK solver in 27.466s [base_object_manipulation_planner_policy.py: 377] +05/11 03:16:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:16:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:16:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:16:07 INFO: [Worker 0] Warmed up parallel IK solver in 28.358s [base_object_manipulation_planner_policy.py: 377] +05/11 03:16:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:16:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:16:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:16:07 INFO: [Worker 0] Warmed up parallel IK solver in 27.957s [base_object_manipulation_planner_policy.py: 377] +05/11 03:16:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:16:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:16:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:16:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:16:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 86.070[deg] [grasp_sample.py: 539] +05/11 03:16:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:16:07 INFO: [Worker 0] Warmed up parallel IK solver in 28.293s [base_object_manipulation_planner_policy.py: 377] +05/11 03:16:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:16:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:16:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:16:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:16:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 89.028[deg] [grasp_sample.py: 539] +05/11 03:16:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:16:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:16:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 87.794[deg] [grasp_sample.py: 539] +05/11 03:16:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:16:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:16:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:16:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.612s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:16:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.494[m] 88.037[deg] [grasp_sample.py: 539] +05/11 03:16:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:16:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:16:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:16:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:16:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:16:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:16:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:16:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:16:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:16:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:16:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:16:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:16:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:16:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:17:01 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:17:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:17:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:17:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:17:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:18:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:18:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:18:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:18:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 03:18:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.594s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:18:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.275[deg] [grasp_sample.py: 539] +05/11 03:18:30 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:18:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:18:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:18:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:18:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:18:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:18:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:18:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050539m [env.py: 870] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:18:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8335893 0.36343436 0.05053866] yaw=161.0deg [env.py: 1019] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95153852 1.16145925 0.05053866] yaw=-127.3deg [env.py: 1019] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97232874 0.1348168 0.05053866] yaw=157.2deg [env.py: 1019] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:18:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.3ms, total=295.3ms [env.py: 1075] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.363, 0.051) [env.py: 1079] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg [env.py: 1082] +05/11 03:18:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:18:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:18:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:18:33 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 03:18:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 03:18:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:18:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:18:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:18:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:18:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.451[m] 93.560[deg] [grasp_sample.py: 539] +05/11 03:18:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:18:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:18:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:18:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:18:39 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:18:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:18:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:18:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:18:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:18:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:18:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 03:18:47 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.443s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:18:47 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.407[deg] [grasp_sample.py: 539] +05/11 03:18:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:18:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:18:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:18:51 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:18:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:18:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:18:59 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/11 03:19:01 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:19:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:19:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:19:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:19:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 03:19:11 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:19:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:19:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:19:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.40s (batch: 4.52s, save: 8.88s) [pipeline.py: 300] +05/11 03:19:13 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.84s: + episode_total: mean=218.09s, total=218.09s, count=1, min=218086.3ms, max=218086.3ms + sensor_polling: mean=481.7ms, total=140.65s, count=292, min=459.9ms, max=686.7ms + save_trajectories: mean=8.88s, total=8.88s, count=1, min=8883.7ms, max=8883.7ms + physics_step: mean=23.6ms, total=6.90s, count=292, min=16.0ms, max=35.5ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4520.0ms, max=4520.0ms + task_sampling: mean=3.84s, total=3.84s, count=1, min=3841.2ms, max=3841.2ms + scene_load: mean=2.83s, total=2.83s, count=1, min=2830.0ms, max=2830.0ms + scene_env_create: mean=1.83s, total=1.83s, count=1, min=1832.0ms, max=1832.0ms + task_specific_sample: mean=1.01s, total=1.01s, count=1, min=1005.3ms, max=1005.3ms + scene_compile: mean=783.3ms, total=783.3ms, count=1, min=783.3ms, max=783.3ms + compile_mujoco: mean=583.4ms, total=583.4ms, count=1, min=583.4ms, max=583.4ms + compile_xml_load: mean=141.2ms, total=141.2ms, count=1, min=141.2ms, max=141.2ms + scene_init: mean=119.9ms, total=119.9ms, count=1, min=119.9ms, max=119.9ms + scene_asset_install: mean=94.5ms, total=94.5ms, count=1, min=94.5ms, max=94.5ms + asset_install_grasps: mean=59.5ms, total=59.5ms, count=1, min=59.5ms, max=59.5ms + compile_aux_objects: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms + compile_aux_policy_objects: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms + asset_install_scene: mean=18.3ms, total=18.3ms, count=1, min=18.3ms, max=18.3ms + asset_install_objects: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms + compile_robot_add: mean=6.2ms, total=6.2ms, count=1, min=6.2ms, max=6.2ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=606.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=44.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:19:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:19:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:19:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.37s (batch: 4.55s, save: 8.82s) [pipeline.py: 300] +05/11 03:19:15 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.36s: + episode_total: mean=220.12s, total=220.12s, count=1, min=220116.6ms, max=220116.6ms + sensor_polling: mean=475.3ms, total=142.60s, count=300, min=451.2ms, max=646.2ms + save_trajectories: mean=8.82s, total=8.82s, count=1, min=8818.7ms, max=8818.7ms + physics_step: mean=21.4ms, total=6.43s, count=300, min=16.3ms, max=66.0ms + save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4548.3ms, max=4548.3ms + task_sampling: mean=4.36s, total=4.36s, count=1, min=4363.6ms, max=4363.6ms + scene_load: mean=3.23s, total=3.23s, count=1, min=3225.6ms, max=3225.6ms + scene_env_create: mean=2.02s, total=2.02s, count=1, min=2021.2ms, max=2021.2ms + task_specific_sample: mean=1.13s, total=1.13s, count=1, min=1135.0ms, max=1135.0ms + scene_compile: mean=1.10s, total=1.10s, count=1, min=1102.4ms, max=1102.4ms + compile_mujoco: mean=707.8ms, total=707.8ms, count=1, min=707.8ms, max=707.8ms + compile_xml_load: mean=325.6ms, total=325.6ms, count=1, min=325.6ms, max=325.6ms + scene_init: mean=61.7ms, total=61.7ms, count=1, min=61.7ms, max=61.7ms + compile_aux_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms + compile_aux_policy_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms + scene_asset_install: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms + asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms + compile_robot_add: mean=15.7ms, total=15.7ms, count=1, min=15.7ms, max=15.7ms + asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms + asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=390.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=51.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/11 03:19:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:19:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:19:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:19:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:19:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:19:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:19:15 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: 256] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071340m [env.py: 870] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:19:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88148199 0.27751991 0.07133959] yaw=168.2deg [env.py: 1019] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95486622 0.10041249 0.07133959] yaw=158.5deg [env.py: 1019] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80868974 0.66748343 0.07133959] yaw=-176.2deg [env.py: 1019] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:19:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.1ms, total=141.1ms [env.py: 1075] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.278, 0.071) [env.py: 1079] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg [env.py: 1082] +05/11 03:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m [env.py: 1086] +05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:19:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:19:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:19:15 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 03:19:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s [base_object_manipulation_planner_policy.py: 377] +05/11 03:19:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:19:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:19:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:19:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:19:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.396[m] 87.301[deg] [grasp_sample.py: 539] +05/11 03:19:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:19:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:19:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:19:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:19:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:19:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:19:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:19:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:19:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:19:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:19:16 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: 178] +05/11 03:19:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:19:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091098m [env.py: 870] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:19:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82483565 0.84246464 0.0910976 ] yaw=-164.0deg [env.py: 1019] +05/11 03:19:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.01363047 1.20716176 0.0910976 ] yaw=-141.5deg [env.py: 1019] +05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:19:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms [env.py: 1075] +05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.842, 0.091) [env.py: 1079] +05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.0 deg [env.py: 1082] +05/11 03:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/11 03:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:19:17 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:19:17 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 03:19:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/11 03:19:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:19:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:19:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:19:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:19:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.512[m] 87.020[deg] [grasp_sample.py: 539] +05/11 03:19:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:19:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:19:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:19:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:19:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:19:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:19:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.00s (batch: 4.39s, save: 8.61s) [pipeline.py: 300] +05/11 03:19:25 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.47s: + episode_total: mean=230.23s, total=230.23s, count=1, min=230229.6ms, max=230229.6ms + sensor_polling: mean=485.1ms, total=145.53s, count=300, min=449.6ms, max=665.6ms + save_trajectories: mean=8.61s, total=8.61s, count=1, min=8609.7ms, max=8609.7ms + physics_step: mean=21.6ms, total=6.47s, count=300, min=16.0ms, max=33.2ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4387.8ms, max=4387.8ms + task_sampling: mean=3.47s, total=3.47s, count=1, min=3468.6ms, max=3468.6ms + scene_load: mean=2.97s, total=2.97s, count=1, min=2971.6ms, max=2971.6ms + scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.9ms, max=2044.9ms + scene_compile: mean=825.2ms, total=825.2ms, count=1, min=825.2ms, max=825.2ms + compile_mujoco: mean=628.9ms, total=628.9ms, count=1, min=628.9ms, max=628.9ms + task_specific_sample: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms + compile_xml_load: mean=132.0ms, total=132.0ms, count=1, min=132.0ms, max=132.0ms + scene_init: mean=62.1ms, total=62.1ms, count=1, min=62.1ms, max=62.1ms + compile_aux_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + compile_aux_policy_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + scene_asset_install: mean=39.1ms, total=39.1ms, count=1, min=39.1ms, max=39.1ms + asset_install_grasps: mean=28.9ms, total=28.9ms, count=1, min=28.9ms, max=28.9ms + asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms + compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms + asset_install_scene: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=398.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=56.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms [profiler_utils.py: 380] +05/11 03:19:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:19:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:19:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:19:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:19:27 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: 178] +05/11 03:19:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:19:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055817m [env.py: 870] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:19:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69061881 0.88670388 0.05581727] yaw=-148.6deg [env.py: 1019] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93840625 0.58376849 0.05581727] yaw=-174.4deg [env.py: 1019] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97621567 0.81677344 0.05581727] yaw=-163.4deg [env.py: 1019] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:19:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.2ms [env.py: 1075] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.887, 0.056) [env.py: 1079] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.6 deg [env.py: 1082] +05/11 03:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:19:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:19:27 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3 [pipeline.py: 1044] +05/11 03:19:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/11 03:19:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:19:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:19:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:19:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:19:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.799s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:19:30 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.691[m] 88.232[deg] [grasp_sample.py: 539] +05/11 03:19:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:19:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:19:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:19:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:19:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:20:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:20:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:20:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:20:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:20:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:20:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:20:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:20:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:21:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:21:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:21:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:21:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 03:21:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.543s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:21:05 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.550[deg] [grasp_sample.py: 539] +05/11 03:21:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:07 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:21:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:21:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:21:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:21:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:21:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:21:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066057m [env.py: 870] +05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:21:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85457939 0.75807875 0.0660568 ] yaw=-154.0deg [env.py: 1019] +05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93820141 0.84368813 0.0660568 ] yaw=-143.6deg [env.py: 1019] +05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9275821 0.76739722 0.0660568 ] yaw=-171.1deg [env.py: 1019] +05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:21:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=304.2ms, total=304.2ms [env.py: 1075] +05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.758, 0.066) [env.py: 1079] +05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.0 deg [env.py: 1082] +05/11 03:21:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/11 03:21:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:21:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:21:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:21:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:21:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:21:09 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 03:21:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/11 03:21:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:21:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:21:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:21:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:21:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.452[m] 83.724[deg] [grasp_sample.py: 539] +05/11 03:21:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:21:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:21:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:21:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:21:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:21:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:21:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:21:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:21:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 03:21:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.420s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:21:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.057[deg] [grasp_sample.py: 539] +05/11 03:21:16 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:21:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:21:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:21:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:21:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:21:17 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: 178] +05/11 03:21:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:21:17 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: 256] +05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024985m [env.py: 870] +05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:21:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89222191 0.62188985 0.02498543] yaw=-163.5deg [env.py: 1019] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81400858 1.01336107 0.02498543] yaw=-159.3deg [env.py: 1019] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80787032 0.3774984 0.02498543] yaw=168.2deg [env.py: 1019] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:21:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=303.1ms, total=303.1ms [env.py: 1075] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.622, 0.025) [env.py: 1079] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg [env.py: 1082] +05/11 03:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/11 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:21:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:21:18 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 03:21:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/11 03:21:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:21:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:21:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:21:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:21:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.426[m] 98.413[deg] [grasp_sample.py: 539] +05/11 03:21:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:21:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:21:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:21:49 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:21:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:22:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:22:02 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:22:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:22:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:22:10 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:22:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:22:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:22:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:22:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:22:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:22:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 03:22:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:22:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:22:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:22:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.17s (batch: 4.26s, save: 8.91s) [pipeline.py: 300] +05/11 03:22:23 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s: + episode_total: mean=187.12s, total=187.12s, count=1, min=187120.0ms, max=187120.0ms + sensor_polling: mean=475.4ms, total=142.62s, count=300, min=446.4ms, max=679.9ms + save_trajectories: mean=8.91s, total=8.91s, count=1, min=8907.0ms, max=8907.0ms + physics_step: mean=22.2ms, total=6.67s, count=300, min=19.2ms, max=33.6ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4265.0ms, max=4265.0ms + task_sampling: mean=466.7ms, total=466.7ms, count=1, min=466.7ms, max=466.7ms + task_specific_sample: mean=462.7ms, total=462.7ms, count=1, min=462.7ms, max=462.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=436.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:22:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:22:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:22:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:22:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:22:25 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: 178] +05/11 03:22:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:22:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064625m [env.py: 870] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:22:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93517728 1.24983006 0.06462481] yaw=-126.6deg [env.py: 1019] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66621522 0.42812393 0.06462481] yaw=174.3deg [env.py: 1019] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73803355 0.24563791 0.06462481] yaw=170.0deg [env.py: 1019] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:22:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.8ms, total=158.8ms [env.py: 1075] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 1.250, 0.065) [env.py: 1079] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.6 deg [env.py: 1082] +05/11 03:22:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:22:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:22:26 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 03:22:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/11 03:22:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:22:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:22:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:22:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.596s, found feasible grasp: False [grasp_sample.py: 500] +05/11 03:22:27 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/11 03:22:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:22:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:22:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:22:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:22:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:22:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:22:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064569m [env.py: 870] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:22:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78906162 0.49560494 0.06456903] yaw=-173.9deg [env.py: 1019] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94726159 0.95157912 0.06456903] yaw=-150.1deg [env.py: 1019] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00632763 1.04001659 0.06456903] yaw=-150.4deg [env.py: 1019] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:22:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.1ms, total=139.1ms [env.py: 1075] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.496, 0.065) [env.py: 1079] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg [env.py: 1082] +05/11 03:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:22:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:22:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:22:29 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 03:22:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/11 03:22:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:22:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:22:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:22:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.583s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:22:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.519[m] 98.467[deg] [grasp_sample.py: 539] +05/11 03:22:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:22:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:22:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:22:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:22:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:22:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.74s (batch: 4.30s, save: 8.44s) [pipeline.py: 300] +05/11 03:22:36 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.40s: + episode_total: mean=189.02s, total=189.02s, count=1, min=189023.1ms, max=189023.1ms + sensor_polling: mean=476.1ms, total=142.83s, count=300, min=446.5ms, max=671.7ms + save_trajectories: mean=8.44s, total=8.44s, count=1, min=8437.3ms, max=8437.3ms + physics_step: mean=22.3ms, total=6.69s, count=300, min=16.8ms, max=41.6ms + save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4300.1ms, max=4300.1ms + task_sampling: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms + task_specific_sample: mean=395.2ms, total=395.2ms, count=1, min=395.2ms, max=395.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=433.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.6us, 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] +05/11 03:22:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:22:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:22:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:22:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:22:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:22:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:22:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:22:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024151m [env.py: 870] +05/11 03:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:22:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:22:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78496458 0.15211121 0.02415136] yaw=165.6deg [env.py: 1019] +05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74628785 0.34163596 0.02415136] yaw=163.1deg [env.py: 1019] +05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96037957 0.81219704 0.02415136] yaw=-145.6deg [env.py: 1019] +05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:22:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.3ms, total=106.3ms [env.py: 1075] +05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.152, 0.024) [env.py: 1079] +05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg [env.py: 1082] +05/11 03:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/11 03:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:22:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:22:38 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3 [pipeline.py: 1044] +05/11 03:22:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/11 03:22:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:22:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:22:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:22:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.578s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:22:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.551[m] 96.146[deg] [grasp_sample.py: 539] +05/11 03:22:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:22:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:22:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:23:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:23:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:23:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:23:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:23:41 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:23:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:23:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:23:49 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:24:04 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:24:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:24:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:24:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:24:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 03:24:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:24:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:24:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:24:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.73s (batch: 4.49s, save: 8.24s) [pipeline.py: 300] +05/11 03:24:17 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.98s: + episode_total: mean=150.27s, total=300.55s, count=2, min=111807.5ms, max=188740.2ms + sensor_polling: mean=476.3ms, total=236.25s, count=496, min=441.2ms, max=680.6ms + physics_step: mean=22.4ms, total=11.09s, count=496, min=17.1ms, max=33.8ms + save_trajectories: mean=8.24s, total=8.24s, count=1, min=8244.2ms, max=8244.2ms + save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4486.5ms, max=4486.5ms + task_sampling: mean=490.1ms, total=980.2ms, count=2, min=411.2ms, max=569.0ms + task_specific_sample: mean=486.6ms, total=973.3ms, count=2, min=407.4ms, max=565.9ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms + mj_forward_sync: mean=438.7us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=24.1us, 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] +05/11 03:24:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:24:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:24:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:24:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:24:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:24:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:24:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064817m [env.py: 870] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:24:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87034528 0.83148243 0.06481704] yaw=-158.3deg [env.py: 1019] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74451846 0.43770765 0.06481704] yaw=185.4deg [env.py: 1019] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80594584 1.09666437 0.06481704] yaw=-138.6deg [env.py: 1019] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:24:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.9ms, total=133.9ms [env.py: 1075] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.831, 0.065) [env.py: 1079] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg [env.py: 1082] +05/11 03:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:24:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:24:19 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 03:24:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/11 03:24:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:24:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:24:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:24:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:24:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.457[m] 88.981[deg] [grasp_sample.py: 539] +05/11 03:24:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:24:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:24:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:24:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:24:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:24:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.57s (batch: 4.41s, save: 8.16s) [pipeline.py: 300] +05/11 03:24:23 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=4.78s: + episode_total: mean=174.80s, total=524.41s, count=3, min=163410.3ms, max=186060.3ms + sensor_polling: mean=473.7ms, total=387.48s, count=818, min=430.6ms, max=733.7ms + physics_step: mean=22.0ms, total=18.00s, count=818, min=16.4ms, max=42.9ms + save_trajectories: mean=8.16s, total=8.16s, count=1, min=8161.3ms, max=8161.3ms + task_sampling: mean=1.59s, total=4.78s, count=3, min=544.6ms, max=3668.3ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4411.3ms, max=4411.3ms + scene_load: mean=3.03s, total=3.03s, count=1, min=3033.1ms, max=3033.1ms + scene_env_create: mean=1.81s, total=1.81s, count=1, min=1808.9ms, max=1808.9ms + task_specific_sample: mean=578.6ms, total=1.74s, count=3, min=541.9ms, max=631.7ms + scene_compile: mean=895.7ms, total=895.7ms, count=1, min=895.7ms, max=895.7ms + compile_mujoco: mean=620.4ms, total=620.4ms, count=1, min=620.4ms, max=620.4ms + scene_init: mean=261.6ms, total=261.6ms, count=1, min=261.6ms, max=261.6ms + compile_xml_load: mean=200.8ms, total=200.8ms, count=1, min=200.8ms, max=200.8ms + scene_asset_install: mean=66.4ms, total=66.4ms, count=1, min=66.4ms, max=66.4ms + compile_aux_objects: mean=57.6ms, total=57.6ms, count=1, min=57.6ms, max=57.6ms + compile_aux_policy_objects: mean=57.6ms, total=57.6ms, count=1, min=57.6ms, max=57.6ms + asset_install_grasps: mean=52.8ms, total=52.8ms, count=1, min=52.8ms, max=52.8ms + asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms + compile_robot_add: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.4ms, max=1.8ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=515.5us, total=1.5ms, count=3, min=0.4ms, max=0.7ms + policy_setup: mean=25.1us, total=0.1ms, count=3, 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] +05/11 03:24:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:24:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:24:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:24:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:24:25 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: 178] +05/11 03:24:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:24:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035357m [env.py: 870] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:24:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87738159 0.22759427 0.03535665] yaw=165.8deg [env.py: 1019] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69108549 0.83610115 0.03535665] yaw=-155.5deg [env.py: 1019] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85088 0.80224965 0.03535665] yaw=-170.3deg [env.py: 1019] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:24:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.4ms, total=121.5ms [env.py: 1075] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.228, 0.035) [env.py: 1079] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg [env.py: 1082] +05/11 03:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:24:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:24:25 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 03:24:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/11 03:24:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:24:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:24:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:24:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:24:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.400[m] 85.484[deg] [grasp_sample.py: 539] +05/11 03:24:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:24:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:24:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:24:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:24:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:24:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:24:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:25:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:25:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:25:10 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:25:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:25:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:25:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:25:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:25:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:25:16 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:25:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:25:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:25:31 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:25:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:25:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:25:39 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:25:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 03:25:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:25:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:25:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:25:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.84s (batch: 4.67s, save: 10.17s) [pipeline.py: 300] +05/11 03:25:46 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.83s: + episode_total: mean=99.71s, total=199.43s, count=2, min=2174.2ms, max=197251.9ms + sensor_polling: mean=473.9ms, total=142.16s, count=300, min=442.1ms, max=693.3ms + save_trajectories: mean=10.17s, total=10.17s, count=1, min=10174.7ms, max=10174.7ms + physics_step: mean=21.6ms, total=6.49s, count=300, min=14.8ms, max=32.5ms + save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4666.8ms, max=4666.8ms + task_sampling: mean=412.7ms, total=825.4ms, count=2, min=379.6ms, max=445.8ms + task_specific_sample: mean=409.3ms, total=818.6ms, count=2, min=376.8ms, max=441.8ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=430.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:25:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:25:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:25:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:25:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:25:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:25:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:25:48 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: 256] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076831m [env.py: 870] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:25:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92960919 1.06869268 0.07683093] yaw=-153.2deg [env.py: 1019] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68033825 0.87675813 0.07683093] yaw=-161.1deg [env.py: 1019] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94014105 0.12535748 0.07683093] yaw=143.7deg [env.py: 1019] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:25:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.6ms, total=140.6ms [env.py: 1075] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 1.069, 0.077) [env.py: 1079] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.2 deg [env.py: 1082] +05/11 03:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:25:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:25:48 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 03:25:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/11 03:25:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:25:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:25:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:25:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.817s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:25:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.539[m] 80.886[deg] [grasp_sample.py: 539] +05/11 03:25:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:25:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:25:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:25:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:25:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:25:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.97s (batch: 4.90s, save: 10.07s) [pipeline.py: 300] +05/11 03:25:54 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.42s: + episode_total: mean=196.72s, total=196.72s, count=1, min=196724.4ms, max=196724.4ms + sensor_polling: mean=472.3ms, total=141.70s, count=300, min=440.6ms, max=671.6ms + save_trajectories: mean=10.07s, total=10.07s, count=1, min=10067.0ms, max=10067.0ms + physics_step: mean=22.9ms, total=6.87s, count=300, min=16.2ms, max=34.4ms + save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4902.2ms, max=4902.2ms + task_sampling: mean=422.1ms, total=422.1ms, count=1, min=422.1ms, max=422.1ms + task_specific_sample: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=465.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:25:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:25:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:25:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:25:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:25:56 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: 178] +05/11 03:25:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:25:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003463m [env.py: 870] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:25:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80292475 0.1407497 0.00346308] yaw=163.7deg [env.py: 1019] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9596315 0.67896932 0.00346308] yaw=-168.0deg [env.py: 1019] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76549647 0.63406985 0.00346308] yaw=-179.1deg [env.py: 1019] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:25:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.2ms, total=165.3ms [env.py: 1075] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.803, 0.141, 0.003) [env.py: 1079] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.7 deg [env.py: 1082] +05/11 03:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:25:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:25:57 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3 [pipeline.py: 1044] +05/11 03:25:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/11 03:25:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:25:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:25:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:25:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.665s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:25:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.553[m] 95.855[deg] [grasp_sample.py: 539] +05/11 03:25:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:25:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:25:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:26:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:26:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:26:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:26:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:26:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:26:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:26:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 03:26:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.552s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:26:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.839[deg] [grasp_sample.py: 539] +05/11 03:26:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:26:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:26:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:26:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:26:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:26:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:27:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:27:01 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:27:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:27:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:27:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:27:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:27:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:27:28 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:27:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:27:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:27:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:27:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:27:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:27:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:27:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.89s (batch: 4.32s, save: 8.57s) [pipeline.py: 300] +05/11 03:27:41 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s: + episode_total: mean=202.56s, total=202.56s, count=1, min=202563.2ms, max=202563.2ms + sensor_polling: mean=503.0ms, total=150.90s, count=300, min=438.2ms, max=1078.4ms + save_trajectories: mean=8.57s, total=8.57s, count=1, min=8571.8ms, max=8571.8ms + physics_step: mean=24.1ms, total=7.22s, count=300, min=15.7ms, max=89.4ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4318.2ms, max=4318.2ms + task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms + task_specific_sample: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=414.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=26.8us, 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] +05/11 03:27:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:27:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:27:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:27:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:27:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:27:43 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: 178] +05/11 03:27:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:27:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031017m [env.py: 870] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:27:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97156527 0.94456377 0.03101667] yaw=-145.9deg [env.py: 1019] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9031036 0.89461241 0.03101667] yaw=-145.5deg [env.py: 1019] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88031729 0.61918746 0.03101667] yaw=-169.2deg [env.py: 1019] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:27:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=141.2ms, total=141.3ms [env.py: 1075] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.945, 0.031) [env.py: 1079] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg [env.py: 1082] +05/11 03:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:27:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:27:43 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 03:27:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 03:27:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:27:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:27:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:27:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:27:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.424[m] 89.766[deg] [grasp_sample.py: 539] +05/11 03:27:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:27:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:27:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:27:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:27:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:27:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:27:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:27:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:27:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:27:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 70 non-colliding grasps [grasp_sample.py: 465] +05/11 03:27:56 INFO: [Worker 0] Feasibility-checked 70 grasps in 2.935s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:27:56 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.487[deg] [grasp_sample.py: 539] +05/11 03:27:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:27:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:27:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:27:57 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:28:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:28:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 03:28:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:28:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:28:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:28:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:28:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:28:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.95s (batch: 4.25s, save: 8.70s) [pipeline.py: 300] +05/11 03:28:31 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.38s: + episode_total: mean=245.59s, total=245.59s, count=1, min=245587.9ms, max=245587.9ms + sensor_polling: mean=516.9ms, total=155.07s, count=300, min=443.9ms, max=1071.1ms + save_trajectories: mean=8.70s, total=8.70s, count=1, min=8703.9ms, max=8703.9ms + physics_step: mean=26.4ms, total=7.91s, count=300, min=14.7ms, max=135.4ms + save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4245.8ms, max=4245.8ms + task_sampling: mean=380.1ms, total=380.1ms, count=1, min=380.1ms, max=380.1ms + task_specific_sample: mean=376.3ms, total=376.3ms, count=1, min=376.3ms, max=376.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=418.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=24.5us, 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] +05/11 03:28:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:28:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:28:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:28:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:28:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:28:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:28:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:28:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:28:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:28:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:28:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:28:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051628m [env.py: 870] +05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:28:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86963976 0.03378644 0.05162842] yaw=154.0deg [env.py: 1019] +05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93276929 0.08946945 0.05162842] yaw=163.9deg [env.py: 1019] +05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:28:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87805368 0.41201042 0.05162842] yaw=173.9deg [env.py: 1019] +05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:28:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.9ms [env.py: 1075] +05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.034, 0.052) [env.py: 1079] +05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg [env.py: 1082] +05/11 03:28:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/11 03:28:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:28:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:28:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:28:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:28:33 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3 [pipeline.py: 1044] +05/11 03:28:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/11 03:28:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:28:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:28:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:28:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:28:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:28:34 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.538[m] 98.323[deg] [grasp_sample.py: 539] +05/11 03:28:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:28:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:28:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:28:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:28:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:28:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:28:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:28:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:28:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:28:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:28:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:28:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 03:28:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.622s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:28:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.249[deg] [grasp_sample.py: 539] +05/11 03:28:44 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:28:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:28:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:28:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:28:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:28:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:28:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:28:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:28:46 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: 178] +05/11 03:28:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:28:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010810m [env.py: 870] +05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:28:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80637939 0.07907997 0.01080995] yaw=166.9deg [env.py: 1019] +05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:28:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91626546 0.84223753 0.01080995] yaw=-153.2deg [env.py: 1019] +05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89098495 0.6146414 0.01080995] yaw=-180.5deg [env.py: 1019] +05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:28:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.6ms, total=110.7ms [env.py: 1075] +05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.079, 0.011) [env.py: 1079] +05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg [env.py: 1082] +05/11 03:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m [env.py: 1086] +05/11 03:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:28:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:28:47 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 03:28:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/11 03:28:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:28:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:28:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:28:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.710s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:28:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.518[m] 77.938[deg] [grasp_sample.py: 539] +05/11 03:28:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:28:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:28:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:28:59 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:29:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:29:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 03:29:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:29:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:29:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:29:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:29:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.31s (batch: 6.59s, save: 9.71s) [pipeline.py: 300] +05/11 03:29:41 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.52s: + episode_total: mean=224.60s, total=224.60s, count=1, min=224600.9ms, max=224600.9ms + sensor_polling: mean=525.0ms, total=157.51s, count=300, min=448.4ms, max=900.2ms + save_trajectories: mean=9.71s, total=9.71s, count=1, min=9713.8ms, max=9713.8ms + physics_step: mean=26.6ms, total=7.97s, count=300, min=18.4ms, max=76.5ms + save_batch_prep: mean=6.59s, total=6.59s, count=1, min=6593.9ms, max=6593.9ms + task_sampling: mean=515.9ms, total=515.9ms, count=1, min=515.9ms, max=515.9ms + task_specific_sample: mean=509.4ms, total=509.4ms, count=1, min=509.4ms, max=509.4ms + scene_randomize: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + mj_forward_sync: mean=885.5us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + policy_setup: mean=43.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:29:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:29:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:29:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:29:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:29:42 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: 178] +05/11 03:29:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:29:42 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: 256] +05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048493m [env.py: 870] +05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:29:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:29:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.3ms, total=166.3ms [env.py: 1105] +05/11 03:29:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' [opening_task_samplers.py: 285] +05/11 03:29:43 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root [pipeline.py: 1063] +05/11 03:29:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:29:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:29:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:29:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:29:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:29:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:29:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:29:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:29:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053273m [env.py: 870] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:29:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67534809 0.86990656 0.05327316] yaw=-148.2deg [env.py: 1019] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82538648 0.69279727 0.05327316] yaw=-168.7deg [env.py: 1019] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93149158 0.25729035 0.05327316] yaw=159.2deg [env.py: 1019] +05/11 03:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:29:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=249.8ms, total=249.8ms [env.py: 1075] +05/11 03:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.675, 0.870, 0.053) [env.py: 1079] +05/11 03:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg [env.py: 1082] +05/11 03:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/11 03:29:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:29:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:29:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:29:45 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 03:29:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:29:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/11 03:29:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:29:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:29:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:29:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:29:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.687s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:29:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 77.355[deg] [grasp_sample.py: 539] +05/11 03:29:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:29:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:29:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:29:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:29:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:30:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:30:30 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:30:57 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:30:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:30:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:30:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:31:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:31:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:31:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:31:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.47s (batch: 4.37s, save: 10.11s) [pipeline.py: 300] +05/11 03:31:12 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s: + episode_total: mean=208.82s, total=208.82s, count=1, min=208816.4ms, max=208816.4ms + sensor_polling: mean=515.5ms, total=154.65s, count=300, min=435.2ms, max=959.7ms + save_trajectories: mean=10.11s, total=10.11s, count=1, min=10106.3ms, max=10106.3ms + physics_step: mean=24.7ms, total=7.40s, count=300, min=17.9ms, max=107.0ms + save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4365.2ms, max=4365.2ms + task_sampling: mean=438.6ms, total=438.6ms, count=1, min=438.6ms, max=438.6ms + task_specific_sample: mean=434.3ms, total=434.3ms, count=1, min=434.3ms, max=434.3ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=596.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:31:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:31:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:31:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:31:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:31:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:31:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:31:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:31:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:31:13 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: 178] +05/11 03:31:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:31:13 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: 256] +05/11 03:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084125m [env.py: 870] +05/11 03:31:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:31:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04155463 1.15376563 0.0841248 ] yaw=-143.0deg [env.py: 1019] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81025765 0.29281103 0.0841248 ] yaw=165.2deg [env.py: 1019] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:31:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.0ms, total=244.0ms [env.py: 1075] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.154, 0.084) [env.py: 1079] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg [env.py: 1082] +05/11 03:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/11 03:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:31:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:31:14 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 03:31:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/11 03:31:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:31:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:31:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:31:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.580s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:31:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.519[m] 82.454[deg] [grasp_sample.py: 539] +05/11 03:31:17 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:31:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:31:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:31:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:31:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:31:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:31:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:31:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:31:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:31:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:31:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011962m [env.py: 870] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:31:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67249064 0.8639138 0.01196235] yaw=-150.6deg [env.py: 1019] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80016262 0.21893148 0.01196235] yaw=155.9deg [env.py: 1019] +05/11 03:31:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74629135 0.41029494 0.01196235] yaw=186.3deg [env.py: 1019] +05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:31:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.2ms, total=136.2ms [env.py: 1075] +05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.864, 0.012) [env.py: 1079] +05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.6 deg [env.py: 1082] +05/11 03:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/11 03:31:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:31:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:31:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:31:19 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 03:31:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/11 03:31:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:31:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:31:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:31:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.620s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:31:21 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.674[m] 85.087[deg] [grasp_sample.py: 539] +05/11 03:31:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:31:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:31:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:31:27 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:31:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:31:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:31:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:31:47 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:31:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 03:31:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:31:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:31:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:31:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:31:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:31:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:31:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:31:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:31:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 03:31:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.413s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:31:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.381[deg] [grasp_sample.py: 539] +05/11 03:31:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:31:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:31:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:31:58 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:31:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:31:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:31:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.09s (batch: 3.96s, save: 8.13s) [pipeline.py: 300] +05/11 03:32:00 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s: + episode_total: mean=207.36s, total=207.36s, count=1, min=207359.2ms, max=207359.2ms + sensor_polling: mean=537.5ms, total=161.26s, count=300, min=447.6ms, max=904.6ms + save_trajectories: mean=8.13s, total=8.13s, count=1, min=8133.6ms, max=8133.6ms + physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=79.8ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3959.9ms, max=3959.9ms + task_sampling: mean=467.0ms, total=467.0ms, count=1, min=467.0ms, max=467.0ms + task_specific_sample: mean=463.5ms, total=463.5ms, count=1, min=463.5ms, max=463.5ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=428.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.3us, 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] +05/11 03:32:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:32:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:32:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:32:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:32:01 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: 178] +05/11 03:32:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:32:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094122m [env.py: 870] +05/11 03:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:32:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14189016 0.99618334 0.09412222] yaw=-127.8deg [env.py: 1019] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71397587 0.05984679 0.09412222] yaw=157.0deg [env.py: 1019] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9053027 0.1794617 0.09412222] yaw=150.4deg [env.py: 1019] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:32:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.5ms [env.py: 1075] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.142, 0.996, 0.094) [env.py: 1079] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.8 deg [env.py: 1082] +05/11 03:32:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.761m [env.py: 1086] +05/11 03:32:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:32:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:32:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:32:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:32:02 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3 [pipeline.py: 1044] +05/11 03:32:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/11 03:32:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:32:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:32:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:32:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:32:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.335[m] 89.528[deg] [grasp_sample.py: 539] +05/11 03:32:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:32:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:32:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:32:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:32:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:32:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:32:29 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:32:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:32:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:32:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:32:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.10s (batch: 4.24s, save: 8.86s) [pipeline.py: 300] +05/11 03:32:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:32:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.96s: + episode_total: mean=203.30s, total=406.59s, count=2, min=176381.5ms, max=230212.9ms + sensor_polling: mean=519.8ms, total=308.78s, count=594, min=435.5ms, max=972.8ms + physics_step: mean=25.9ms, total=15.40s, count=594, min=13.8ms, max=90.0ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8857.7ms, max=8857.7ms + save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4240.3ms, max=4240.3ms + task_sampling: mean=481.2ms, total=962.3ms, count=2, min=446.5ms, max=515.8ms + task_specific_sample: mean=476.5ms, total=953.0ms, count=2, min=441.7ms, max=511.4ms + scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=2.1ms, max=2.8ms + mj_forward_sync: mean=665.3us, total=1.3ms, count=2, min=0.6ms, max=0.8ms + policy_setup: mean=27.7us, total=0.1ms, 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] +05/11 03:32:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:32:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:32:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:32:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:32:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:32:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:32:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003276m [env.py: 870] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:32:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95025718 0.30956795 0.00327616] yaw=162.7deg [env.py: 1019] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89220964 0.37363091 0.00327616] yaw=165.1deg [env.py: 1019] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01575284 0.97954785 0.00327616] yaw=-145.9deg [env.py: 1019] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:32:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=474.2ms, total=474.3ms [env.py: 1075] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.310, 0.003) [env.py: 1079] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.7 deg [env.py: 1082] +05/11 03:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m [env.py: 1086] +05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:32:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:32:39 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 03:32:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/11 03:32:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:32:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:32:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.105s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:32:40 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:32:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.218s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:32:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.283[m] 77.001[deg] [grasp_sample.py: 539] +05/11 03:32:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:32:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:32:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:32:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:32:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:32:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:32:56 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:32:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 03:32:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:33:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:33:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:33:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.96s (batch: 4.79s, save: 9.16s) [pipeline.py: 300] +05/11 03:33:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:33:10 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.57s: + episode_total: mean=103.09s, total=206.17s, count=2, min=177.2ms, max=205997.1ms + sensor_polling: mean=504.8ms, total=151.44s, count=300, min=430.7ms, max=783.7ms + save_trajectories: mean=9.16s, total=9.16s, count=1, min=9164.9ms, max=9164.9ms + physics_step: mean=24.3ms, total=7.30s, count=300, min=18.2ms, max=66.0ms + save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4791.8ms, max=4791.8ms + task_specific_sample: mean=368.0ms, total=736.0ms, count=2, min=171.5ms, max=564.6ms + task_sampling: mean=567.5ms, total=567.5ms, count=1, min=567.5ms, max=567.5ms + task_sampling_failed: mean=177.2ms, total=177.2ms, count=1, min=177.2ms, max=177.2ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms + mj_forward_sync: mean=417.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:33:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:33:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:33:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:33:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:33:12 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: 178] +05/11 03:33:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:33:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003204m [env.py: 870] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:33:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.19842868 1.10643067 0.00320396] yaw=-136.7deg [env.py: 1019] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06861187 1.22752611 0.00320396] yaw=-138.3deg [env.py: 1019] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90936937 0.16232709 0.00320396] yaw=157.0deg [env.py: 1019] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:33:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=266.0ms, total=266.0ms [env.py: 1075] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.198, 1.106, 0.003) [env.py: 1079] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg [env.py: 1082] +05/11 03:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:33:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:33:13 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 03:33:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/11 03:33:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:33:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:33:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:33:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.311s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:33:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.384[m] 84.538[deg] [grasp_sample.py: 539] +05/11 03:33:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:33:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:33:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:33:23 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:33:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:33:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:34:04 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:34:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:34:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:34:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:34:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:34:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:34:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 03:34:24 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.904s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:34:24 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.946[deg] [grasp_sample.py: 539] +05/11 03:34:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:34:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:34:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:34:28 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:34:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:34:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:34:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:34:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:34:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:34:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.37s (batch: 4.04s, save: 8.32s) [pipeline.py: 300] +05/11 03:34:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:41 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.92s: + episode_total: mean=102.87s, total=205.74s, count=2, min=3267.3ms, max=202473.7ms + sensor_polling: mean=506.0ms, total=151.80s, count=300, min=432.8ms, max=971.6ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8324.0ms, max=8324.0ms + physics_step: mean=25.2ms, total=7.57s, count=300, min=15.1ms, max=136.1ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.6ms, max=4042.6ms + task_sampling: mean=458.4ms, total=916.9ms, count=2, min=375.0ms, max=541.9ms + task_specific_sample: mean=454.8ms, total=909.5ms, count=2, min=372.1ms, max=537.5ms + scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms + mj_forward_sync: mean=429.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=23.8us, 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] +05/11 03:34:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:34:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:34:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:34:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:34:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:34:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:34:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:34:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:34:42 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: 178] +05/11 03:34:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:34:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096489m [env.py: 870] +05/11 03:34:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:34:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64826685 0.70949934 0.09648935] yaw=-157.3deg [env.py: 1019] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78873961 0.98846192 0.09648935] yaw=-149.2deg [env.py: 1019] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.71970079 0.02457172 0.09648935] yaw=148.9deg [env.py: 1019] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:34:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.5ms [env.py: 1075] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.648, 0.709, 0.096) [env.py: 1079] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.3 deg [env.py: 1082] +05/11 03:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/11 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:34:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:34:43 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 03:34:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/11 03:34:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:34:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:34:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:34:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.238s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:34:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.630[m] 81.399[deg] [grasp_sample.py: 539] +05/11 03:34:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:34:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:34:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:34:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:34:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:34:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:34:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:34:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:34:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:34:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 03:34:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.570s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:34:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.376[deg] [grasp_sample.py: 539] +05/11 03:34:50 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:34:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:34:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:34:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:34:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:34:52 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: 178] +05/11 03:34:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:34:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099164m [env.py: 870] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:34:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91991972 1.15789928 0.0991641 ] yaw=-144.5deg [env.py: 1019] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88506633 0.35232633 0.0991641 ] yaw=169.9deg [env.py: 1019] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91905868 1.03149498 0.0991641 ] yaw=-141.3deg [env.py: 1019] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:34:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.6ms, total=161.7ms [env.py: 1075] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.920, 1.158, 0.099) [env.py: 1079] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg [env.py: 1082] +05/11 03:34:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:34:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:34:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:34:52 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3 [pipeline.py: 1044] +05/11 03:34:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/11 03:34:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:34:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:34:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:34:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.535s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:34:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.582[m] 81.425[deg] [grasp_sample.py: 539] +05/11 03:34:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:34:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:34:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:35:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:35:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:35:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:35:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:35:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:35:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:35:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 03:35:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.791s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:35:38 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.298[deg] [grasp_sample.py: 539] +05/11 03:35:39 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:35:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:35:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:35:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:35:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:35:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:35:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:35:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092231m [env.py: 870] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:35:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77187383 0.95875467 0.09223106] yaw=-144.2deg [env.py: 1019] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11252544 1.03143517 0.09223106] yaw=-126.9deg [env.py: 1019] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86683819 0.826812 0.09223106] yaw=-146.3deg [env.py: 1019] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:35:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.3ms, total=127.4ms [env.py: 1075] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.959, 0.092) [env.py: 1079] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.2 deg [env.py: 1082] +05/11 03:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:35:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:35:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:35:41 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 03:35:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/11 03:35:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:35:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:35:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:35:42 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:35:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.876s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:35:44 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.625[m] 80.584[deg] [grasp_sample.py: 539] +05/11 03:35:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:35:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:35:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:35:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:35:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:36:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:36:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:36:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:36:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:36:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:36:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:36:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:36:10 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:36:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:36:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:36:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:36:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:36:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:36:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:36:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 82 non-colliding grasps [grasp_sample.py: 465] +05/11 03:36:18 INFO: [Worker 0] Feasibility-checked 82 grasps in 6.535s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:36:18 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.220[m] 1.990[deg] [grasp_sample.py: 539] +05/11 03:36:19 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:36:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:36:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:36:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:36:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:36:21 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: 178] +05/11 03:36:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:36:21 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: 256] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048575m [env.py: 870] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:36:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90698368 0.59849913 0.04857485] yaw=-169.9deg [env.py: 1019] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86729377 1.1201851 0.04857485] yaw=-138.6deg [env.py: 1019] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88138684 0.27171043 0.04857485] yaw=161.9deg [env.py: 1019] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:36:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms [env.py: 1075] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.598, 0.049) [env.py: 1079] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg [env.py: 1082] +05/11 03:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:36:21 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:36:21 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 03:36:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/11 03:36:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:36:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:36:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:36:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:36:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.411[m] 97.422[deg] [grasp_sample.py: 539] +05/11 03:36:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:36:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:36:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:36:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:36:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:36:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.59s (batch: 4.61s, save: 8.98s) [pipeline.py: 300] +05/11 03:36:25 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.77s: + episode_total: mean=225.86s, total=225.86s, count=1, min=225863.8ms, max=225863.8ms + sensor_polling: mean=520.6ms, total=156.19s, count=300, min=449.3ms, max=1048.1ms + save_trajectories: mean=8.98s, total=8.98s, count=1, min=8981.2ms, max=8981.2ms + physics_step: mean=26.7ms, total=8.01s, count=300, min=17.9ms, max=69.1ms + save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.4ms, max=4607.4ms + task_sampling: mean=766.1ms, total=766.1ms, count=1, min=766.1ms, max=766.1ms + task_specific_sample: mean=761.1ms, total=761.1ms, count=1, min=761.1ms, max=761.1ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=631.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:36:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:36:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:36:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:36:26 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: 178] +05/11 03:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:36:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007962m [env.py: 870] +05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04054296 1.14401853 0.00796217] yaw=-141.7deg [env.py: 1019] +05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.08522835 0.96475583 0.00796217] yaw=-151.3deg [env.py: 1019] +05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:36:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=233.8ms, total=233.8ms [env.py: 1075] +05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 1.144, 0.008) [env.py: 1079] +05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.7 deg [env.py: 1082] +05/11 03:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/11 03:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:36:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:36:27 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 03:36:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s [base_object_manipulation_planner_policy.py: 377] +05/11 03:36:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:36:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:36:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:36:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.114s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:36:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 89.755[deg] [grasp_sample.py: 539] +05/11 03:36:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:36:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:36:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:36:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:37:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:37:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:37:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:37:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:37:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:37:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:37:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:37:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:37:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:37:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:37:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:37:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:37:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:37:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 03:37:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:37:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.714s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:37:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.242[deg] [grasp_sample.py: 539] +05/11 03:37:31 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:37:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:37:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:37:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:37:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:37:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:37:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:37:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:37:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:37:32 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: 256] +05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049989m [env.py: 870] +05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:37:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83850691 0.57718344 0.04998891] yaw=-163.5deg [env.py: 1019] +05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06909299 0.91150532 0.04998891] yaw=-134.9deg [env.py: 1019] +05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74998768 0.44702536 0.04998891] yaw=183.7deg [env.py: 1019] +05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:37:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.5ms, total=193.6ms [env.py: 1075] +05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.577, 0.050) [env.py: 1079] +05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg [env.py: 1082] +05/11 03:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/11 03:37:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:37:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:37:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:37:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:37:33 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3 [pipeline.py: 1044] +05/11 03:37:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/11 03:37:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:37:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:37:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:37:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:37:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 85.342[deg] [grasp_sample.py: 539] +05/11 03:37:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:37:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:37:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:37:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:37:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:38:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:38:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:38:30 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:38:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:38:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:38:55 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:38:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 03:38:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:38:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:39:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:39:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:39:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:39:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:39:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:39:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 03:39:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 5.076s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:39:05 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.224[m] 2.991[deg] [grasp_sample.py: 539] +05/11 03:39:06 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:39:08 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:39:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:39:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:39:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:39:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:39:08 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: 178] +05/11 03:39:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:39:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034308m [env.py: 870] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:39:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9232798 0.82746261 0.03430795] yaw=-161.3deg [env.py: 1019] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95427587 0.10818949 0.03430795] yaw=149.0deg [env.py: 1019] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90137675 1.07680256 0.03430795] yaw=-136.0deg [env.py: 1019] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:39:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=110.3ms, total=110.3ms [env.py: 1075] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.923, 0.827, 0.034) [env.py: 1079] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg [env.py: 1082] +05/11 03:39:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:39:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:39:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:39:09 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 03:39:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 03:39:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:39:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:39:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:39:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:39:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:39:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.64s (batch: 4.52s, save: 9.12s) [pipeline.py: 300] +05/11 03:39:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:39:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 93.666[deg] [grasp_sample.py: 539] +05/11 03:39:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:39:09 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.06s: + episode_total: mean=177.81s, total=355.61s, count=2, min=146976.7ms, max=208635.7ms + sensor_polling: mean=513.8ms, total=274.88s, count=535, min=424.5ms, max=835.2ms + physics_step: mean=25.8ms, total=13.80s, count=535, min=16.2ms, max=94.8ms + save_trajectories: mean=9.12s, total=9.12s, count=1, min=9124.8ms, max=9124.8ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4518.6ms, max=4518.6ms + task_sampling: mean=527.9ms, total=1.06s, count=2, min=405.0ms, max=650.8ms + task_specific_sample: mean=523.0ms, total=1.05s, count=2, min=401.4ms, max=644.6ms + scene_randomize: mean=3.0ms, total=6.1ms, count=2, min=1.5ms, max=4.6ms + mj_forward_sync: mean=507.4us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=21.6us, 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] +05/11 03:39:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:39:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:39:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:39:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:39:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:39:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:39:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:39:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:39:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006568m [env.py: 870] +05/11 03:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:39:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01112875 0.16978716 0.00656844] yaw=144.3deg [env.py: 1019] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76876602 0.06255817 0.00656844] yaw=146.7deg [env.py: 1019] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68441461 0.34307525 0.00656844] yaw=179.8deg [env.py: 1019] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:39:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.8ms [env.py: 1075] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.011, 0.170, 0.007) [env.py: 1079] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.3 deg [env.py: 1082] +05/11 03:39:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.758m [env.py: 1086] +05/11 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:39:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:39:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:39:12 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 03:39:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.164s [base_object_manipulation_planner_policy.py: 377] +05/11 03:39:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:39:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:39:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.134s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:39:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.411s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:39:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.306[m] 88.131[deg] [grasp_sample.py: 539] +05/11 03:39:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:39:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:39:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:39:34 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:39:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:39:34 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:39:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:39:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:39:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:39:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.79s (batch: 4.35s, save: 9.44s) [pipeline.py: 300] +05/11 03:39:49 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.90s: + episode_total: mean=152.22s, total=304.43s, count=2, min=96420.7ms, max=208013.8ms + sensor_polling: mean=506.1ms, total=219.66s, count=434, min=439.1ms, max=1082.9ms + physics_step: mean=23.9ms, total=10.36s, count=434, min=15.3ms, max=77.9ms + save_trajectories: mean=9.44s, total=9.44s, count=1, min=9437.4ms, max=9437.4ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4348.6ms, max=4348.6ms + task_sampling: mean=452.4ms, total=904.7ms, count=2, min=416.1ms, max=488.6ms + task_specific_sample: mean=448.5ms, total=897.0ms, count=2, min=412.5ms, max=484.5ms + scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.9ms, max=2.7ms + mj_forward_sync: mean=413.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:39:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:39:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:39:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:39:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:39:51 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: 178] +05/11 03:39:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:39:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041517m [env.py: 870] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:39:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89324468 0.67060316 0.0415171 ] yaw=-164.1deg [env.py: 1019] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88645018 0.45671413 0.0415171 ] yaw=177.9deg [env.py: 1019] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85244957 0.89403283 0.0415171 ] yaw=-157.3deg [env.py: 1019] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:39:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.7ms, total=293.7ms [env.py: 1075] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.671, 0.042) [env.py: 1079] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.1 deg [env.py: 1082] +05/11 03:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:39:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:39:52 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 03:39:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.182s [base_object_manipulation_planner_policy.py: 377] +05/11 03:39:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:39:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:39:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:39:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.051s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:39:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.417[m] 91.523[deg] [grasp_sample.py: 539] +05/11 03:39:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:39:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:39:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:39:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:40:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:40:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:40:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:40:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:40:17 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:40:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:40:45 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:40:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 03:40:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:40:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:40:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:41:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:41:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.25s (batch: 4.67s, save: 11.58s) [pipeline.py: 300] +05/11 03:41:02 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.44s: + episode_total: mean=178.93s, total=536.79s, count=3, min=158881.5ms, max=209471.5ms + sensor_polling: mean=510.9ms, total=428.15s, count=838, min=432.0ms, max=1051.1ms + physics_step: mean=24.7ms, total=20.70s, count=838, min=15.2ms, max=104.4ms + save_trajectories: mean=11.58s, total=11.58s, count=1, min=11576.2ms, max=11576.2ms + save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.1ms, max=4670.1ms + task_sampling: mean=479.4ms, total=1.44s, count=3, min=445.9ms, max=523.8ms + task_specific_sample: mean=475.1ms, total=1.43s, count=3, min=440.7ms, max=519.7ms + scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.2ms, max=2.8ms + mj_forward_sync: mean=425.0us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=22.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:41:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:41:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:41:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:41:04 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: 178] +05/11 03:41:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:41:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063142m [env.py: 870] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:41:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66250436 0.40592971 0.06314217] yaw=176.0deg [env.py: 1019] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86606403 0.20867838 0.06314217] yaw=160.2deg [env.py: 1019] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73965615 0.96401875 0.06314217] yaw=-143.1deg [env.py: 1019] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:41:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=321.6ms, total=321.7ms [env.py: 1075] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.663, 0.406, 0.063) [env.py: 1079] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg [env.py: 1082] +05/11 03:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:41:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:41:04 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3 [pipeline.py: 1044] +05/11 03:41:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 03:41:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:41:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:41:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:41:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.616[m] 89.009[deg] [grasp_sample.py: 539] +05/11 03:41:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:41:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:41:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:41:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:41:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:41:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:41:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 03:41:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:41:11 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.165[deg] [grasp_sample.py: 539] +05/11 03:41:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:41:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:41:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:41:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:41:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:41:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:41:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:41:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:41:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:41:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:41:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps [grasp_sample.py: 465] +05/11 03:41:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.528s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:41:54 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.885[deg] [grasp_sample.py: 539] +05/11 03:41:55 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:41:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:41:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:41:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:41:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:41:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:42:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:42:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:42:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:42:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:42:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:42:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:42:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:42:21 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:42:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:42:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:42:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:42:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:42:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:42:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 16.30s (batch: 4.84s, save: 11.46s) [pipeline.py: 300] +05/11 03:42:38 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.97s: + episode_total: mean=184.87s, total=369.74s, count=2, min=160034.0ms, max=209707.6ms + sensor_polling: mean=508.4ms, total=283.20s, count=557, min=432.7ms, max=1189.6ms + physics_step: mean=24.6ms, total=13.70s, count=557, min=17.7ms, max=86.4ms + save_trajectories: mean=11.46s, total=11.46s, count=1, min=11460.4ms, max=11460.4ms + save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4840.8ms, max=4840.8ms + task_sampling: mean=485.4ms, total=970.9ms, count=2, min=375.6ms, max=595.2ms + task_specific_sample: mean=480.9ms, total=961.9ms, count=2, min=372.6ms, max=589.3ms + scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms + mj_forward_sync: mean=1.2ms, total=2.3ms, count=2, min=0.4ms, max=1.9ms + policy_setup: mean=32.3us, total=0.1ms, 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] +05/11 03:42:38 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:42:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:42:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:42:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:42:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:42:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:42:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:42:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:42:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055754m [env.py: 870] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:42:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96386093 0.19529431 0.0557537 ] yaw=165.9deg [env.py: 1019] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78508702 0.06301189 0.0557537 ] yaw=154.9deg [env.py: 1019] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96652933 0.79490721 0.0557537 ] yaw=-165.5deg [env.py: 1019] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:42:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.1ms, total=259.1ms [env.py: 1075] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.195, 0.056) [env.py: 1079] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg [env.py: 1082] +05/11 03:42:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m [env.py: 1086] +05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:42:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:42:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:42:40 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 03:42:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.159s [base_object_manipulation_planner_policy.py: 377] +05/11 03:42:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:42:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:42:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.154s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:42:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.298s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:42:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.341[m] 90.590[deg] [grasp_sample.py: 539] +05/11 03:42:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:42:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:42:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:42:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:42:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:42:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:42:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:42:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:42:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:42:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:42:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:42:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 68 non-colliding grasps [grasp_sample.py: 465] +05/11 03:42:53 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.874s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:42:53 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.036[m] 12.436[deg] [grasp_sample.py: 539] +05/11 03:42:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:42:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:42:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:42:58 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:43:03 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:43:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:43:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:43:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:43:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:43:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:43:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 17.80s (batch: 4.62s, save: 13.18s) [pipeline.py: 300] +05/11 03:43:21 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.71s: + episode_total: mean=210.15s, total=210.15s, count=1, min=210152.2ms, max=210152.2ms + sensor_polling: mean=511.4ms, total=153.41s, count=300, min=445.1ms, max=783.1ms + save_trajectories: mean=13.18s, total=13.18s, count=1, min=13177.5ms, max=13177.5ms + physics_step: mean=23.4ms, total=7.02s, count=300, min=17.8ms, max=76.1ms + save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4622.7ms, max=4622.7ms + task_sampling: mean=708.7ms, total=708.7ms, count=1, min=708.7ms, max=708.7ms + task_specific_sample: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms + scene_randomize: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms + mj_forward_sync: mean=500.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.0us, 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] +05/11 03:43:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:43:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:43:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:43:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:43:23 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: 178] +05/11 03:43:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:43:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067415m [env.py: 870] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:43:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62809122 0.51500856 0.06741524] yaw=-171.7deg [env.py: 1019] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89964443 0.60257767 0.06741524] yaw=-171.9deg [env.py: 1019] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.88652781 0.89889746 0.06741524] yaw=-147.7deg [env.py: 1019] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:43:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=315.7ms, total=315.7ms [env.py: 1075] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.515, 0.067) [env.py: 1079] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg [env.py: 1082] +05/11 03:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:43:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:43:23 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 03:43:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/11 03:43:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:43:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:43:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:43:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.789s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:43:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.653[m] 95.240[deg] [grasp_sample.py: 539] +05/11 03:43:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:43:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:43:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:43:27 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:43:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 03:43:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:43:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:43:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:43:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:43:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:43:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.47s (batch: 4.78s, save: 9.69s) [pipeline.py: 300] +05/11 03:43:43 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.54s: + episode_total: mean=271.19s, total=271.19s, count=1, min=271187.1ms, max=271187.1ms + sensor_polling: mean=530.8ms, total=159.24s, count=300, min=457.5ms, max=1014.5ms + save_trajectories: mean=9.69s, total=9.69s, count=1, min=9691.9ms, max=9691.9ms + physics_step: mean=24.8ms, total=7.45s, count=300, min=15.1ms, max=89.0ms + save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4778.3ms, max=4778.3ms + task_sampling: mean=538.0ms, total=538.0ms, count=1, min=538.0ms, max=538.0ms + task_specific_sample: mean=526.3ms, total=526.3ms, count=1, min=526.3ms, max=526.3ms + scene_randomize: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms + mj_forward_sync: mean=658.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=31.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:43:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:43:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:43:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:43:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:43:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:43:45 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: 178] +05/11 03:43:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:43:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023644m [env.py: 870] +05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:43:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84486815 0.24949363 0.02364394] yaw=169.9deg [env.py: 1019] +05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86720101 0.94646827 0.02364394] yaw=-160.3deg [env.py: 1019] +05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:43:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=694.4ms, total=694.4ms [env.py: 1075] +05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.249, 0.024) [env.py: 1079] +05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg [env.py: 1082] +05/11 03:43:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/11 03:43:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:43:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:43:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:43:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:43:46 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 03:43:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/11 03:43:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:43:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:43:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:43:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:43:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.437[m] 91.075[deg] [grasp_sample.py: 539] +05/11 03:43:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:43:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:43:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:43:53 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:44:15 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:44:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 03:44:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:44:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:44:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:44:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 14.26s (batch: 5.67s, save: 8.60s) [pipeline.py: 300] +05/11 03:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:44:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:44:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:44:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:44:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 03:44:30 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.71s: + episode_total: mean=206.33s, total=206.33s, count=1, min=206328.9ms, max=206328.9ms + sensor_polling: mean=523.5ms, total=157.06s, count=300, min=438.9ms, max=1091.5ms + save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.5ms, max=8598.5ms + physics_step: mean=24.4ms, total=7.33s, count=300, min=16.2ms, max=113.9ms + save_batch_prep: mean=5.67s, total=5.67s, count=1, min=5666.1ms, max=5666.1ms + task_sampling: mean=710.4ms, total=710.4ms, count=1, min=710.4ms, max=710.4ms + task_specific_sample: mean=705.9ms, total=705.9ms, count=1, min=705.9ms, max=705.9ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=468.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:44:30 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:44:30 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.291[deg] [grasp_sample.py: 539] +05/11 03:44:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:44:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:44:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:44:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:44:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:44:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:44:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:44:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015278m [env.py: 870] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:44:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73879682 0.80474414 0.01527787] yaw=-167.0deg [env.py: 1019] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72464145 -0.00520542 0.01527787] yaw=151.7deg [env.py: 1019] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80924422 0.13954978 0.01527787] yaw=163.2deg [env.py: 1019] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:44:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.6ms, total=169.6ms [env.py: 1075] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.805, 0.015) [env.py: 1079] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.0 deg [env.py: 1082] +05/11 03:44:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/11 03:44:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:44:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:44:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:44:32 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3 [pipeline.py: 1044] +05/11 03:44:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/11 03:44:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:44:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:44:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.541s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:44:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.550[m] 84.763[deg] [grasp_sample.py: 539] +05/11 03:44:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:44:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:44:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:44:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:44:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:44:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:44:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 03:44:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.352s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:44:44 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.280[deg] [grasp_sample.py: 539] +05/11 03:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:44:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:44:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:44:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:44:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:44:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:44:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:44:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:44:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:44:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.572s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:44:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.052[m] 2.041[deg] [grasp_sample.py: 539] +05/11 03:44:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:54 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/11 03:44:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:44:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:44:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:44:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:44:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:44:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:44:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080972m [env.py: 870] +05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:44:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85873751 0.43326256 0.08097246] yaw=179.1deg [env.py: 1019] +05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:44:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms [env.py: 1075] +05/11 03:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.433, 0.081) [env.py: 1079] +05/11 03:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.1 deg [env.py: 1082] +05/11 03:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m [env.py: 1086] +05/11 03:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:44:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:44:56 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 03:44:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/11 03:44:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:44:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:44:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:44:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:44:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.436[m] 101.482[deg] [grasp_sample.py: 539] +05/11 03:44:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:44:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:44:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:44:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:44:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:44:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:44:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:44:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:44:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps [grasp_sample.py: 465] +05/11 03:44:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.353s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:44:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.280[deg] [grasp_sample.py: 539] +05/11 03:44:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:45:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:45:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:45:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:45:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:45:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:45:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:45:11 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/11 03:45:12 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/11 03:45:12 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=0.56s: + episode_total: mean=151.62s, total=151.62s, count=1, min=151619.7ms, max=151619.7ms + sensor_polling: mean=533.1ms, total=102.89s, count=193, min=447.1ms, max=1014.4ms + physics_step: mean=25.3ms, total=4.88s, count=193, min=13.0ms, max=104.0ms + task_sampling: mean=558.2ms, total=558.2ms, count=1, min=558.2ms, max=558.2ms + task_specific_sample: mean=554.1ms, total=554.1ms, count=1, min=554.1ms, max=554.1ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=491.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:45:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:45:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:45:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:45:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:45:13 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: 178] +05/11 03:45:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:45:13 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: 256] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083679m [env.py: 870] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:45:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66016826 0.79564797 0.08367919] yaw=-174.4deg [env.py: 1019] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02116707 0.83744707 0.08367919] yaw=-157.5deg [env.py: 1019] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04817777 1.13303913 0.08367919] yaw=-126.4deg [env.py: 1019] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:45:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.8ms, total=220.8ms [env.py: 1075] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.660, 0.796, 0.084) [env.py: 1079] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg [env.py: 1082] +05/11 03:45:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/11 03:45:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:45:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:45:14 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 03:45:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/11 03:45:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:45:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:45:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:45:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:45:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.677[m] 91.923[deg] [grasp_sample.py: 539] +05/11 03:45:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:45:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:45:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:45:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:45:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:45:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:45:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:45:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:45:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:46:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:46:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/11 03:46:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/11 03:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/11 03:46:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/11 03:46:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/11 03:46:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:46:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:46:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps [grasp_sample.py: 465] +05/11 03:46:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.454s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:46:18 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.980[deg] [grasp_sample.py: 539] +05/11 03:46:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:46:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:46:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:46:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:46:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:46:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:46:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:46:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:46:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:46:50 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:47:19 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:47:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes [pipeline.py: 238] +05/11 03:47:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:47:22 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:47:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:47:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:47:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.51s (batch: 4.44s, save: 9.07s) [pipeline.py: 300] +05/11 03:47:33 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.05s: + episode_total: mean=228.40s, total=228.40s, count=1, min=228397.6ms, max=228397.6ms + sensor_polling: mean=523.6ms, total=157.07s, count=300, min=445.5ms, max=1099.1ms + save_trajectories: mean=9.07s, total=9.07s, count=1, min=9069.5ms, max=9069.5ms + physics_step: mean=26.1ms, total=7.83s, count=300, min=15.2ms, max=110.0ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4440.5ms, max=4440.5ms + task_sampling: mean=1.05s, total=1.05s, count=1, min=1050.8ms, max=1050.8ms + task_specific_sample: mean=1.02s, total=1.02s, count=1, min=1018.1ms, max=1018.1ms + scene_randomize: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + mj_forward_sync: mean=783.5us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=20.5us, 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] +05/11 03:47:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:47:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:47:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:47:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:47:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:47:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:47:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080466m [env.py: 870] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:47:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75914341 0.22410733 0.0804664 ] yaw=158.5deg [env.py: 1019] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87657717 0.10703589 0.0804664 ] yaw=145.6deg [env.py: 1019] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:47:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=169.4ms, total=169.4ms [env.py: 1075] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.224, 0.080) [env.py: 1079] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg [env.py: 1082] +05/11 03:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m [env.py: 1086] +05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:47:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:47:36 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 03:47:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/11 03:47:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:47:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:47:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:47:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.753s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:47:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.561[m] 90.432[deg] [grasp_sample.py: 539] +05/11 03:47:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:47:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:47:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:47:45 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:47:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes [pipeline.py: 238] +05/11 03:47:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:47:49 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:47:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:47:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:47:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.39s (batch: 4.06s, save: 8.33s) [pipeline.py: 300] +05/11 03:47:58 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.47s: + episode_total: mean=206.86s, total=206.86s, count=1, min=206864.9ms, max=206864.9ms + sensor_polling: mean=521.4ms, total=156.41s, count=300, min=439.3ms, max=855.5ms + save_trajectories: mean=8.33s, total=8.33s, count=1, min=8332.1ms, max=8332.1ms + physics_step: mean=25.4ms, total=7.62s, count=300, min=15.8ms, max=102.0ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4060.7ms, max=4060.7ms + task_sampling: mean=473.4ms, total=473.4ms, count=1, min=473.4ms, max=473.4ms + task_specific_sample: mean=468.2ms, total=468.2ms, count=1, min=468.2ms, max=468.2ms + scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=610.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.4us, 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] +05/11 03:48:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:48:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:48:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:48:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:48:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:48:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:48:00 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: 256] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035730m [env.py: 870] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:48:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00583524 0.99768106 0.0357297 ] yaw=-141.6deg [env.py: 1019] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.1° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.9° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92963344 1.23738453 0.0357297 ] yaw=-130.8deg [env.py: 1019] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89933183 1.11933397 0.0357297 ] yaw=-143.7deg [env.py: 1019] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:48:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.8ms, total=145.8ms [env.py: 1075] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.998, 0.036) [env.py: 1079] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg [env.py: 1082] +05/11 03:48:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:48:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:48:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:48:01 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3 [pipeline.py: 1044] +05/11 03:48:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/11 03:48:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:48:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:48:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:48:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:48:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.450[m] 87.800[deg] [grasp_sample.py: 539] +05/11 03:48:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:48:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:48:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:48:03 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/11 03:48:10 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:48:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes [pipeline.py: 238] +05/11 03:48:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:48:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:48:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:48:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 13.56s (batch: 4.26s, save: 9.30s) [pipeline.py: 300] +05/11 03:48:24 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.10s: + episode_total: mean=149.64s, total=299.28s, count=2, min=90762.3ms, max=208519.7ms + sensor_polling: mean=523.8ms, total=228.36s, count=436, min=432.3ms, max=1001.2ms + physics_step: mean=24.6ms, total=10.74s, count=436, min=14.6ms, max=70.8ms + save_trajectories: mean=9.30s, total=9.30s, count=1, min=9297.3ms, max=9297.3ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4258.1ms, max=4258.1ms + task_sampling: mean=550.0ms, total=1.10s, count=2, min=485.6ms, max=614.5ms + task_specific_sample: mean=546.7ms, total=1.09s, count=2, min=482.6ms, max=610.9ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms + mj_forward_sync: mean=411.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.1us, 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] +05/11 03:48:24 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 [pipeline.py: 1174] +05/11 03:48:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes [pipeline.py: 238] +05/11 03:48:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/11 03:48:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:48:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:48:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:48:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:48:26 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: 178] +05/11 03:48:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:48:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032657m [env.py: 870] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:48:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83362872 0.12770432 0.03265668] yaw=168.3deg [env.py: 1019] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68341456 0.57000592 0.03265668] yaw=-185.7deg [env.py: 1019] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92004335 0.96073435 0.03265668] yaw=-137.3deg [env.py: 1019] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:48:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.8ms, total=91.9ms [env.py: 1075] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.128, 0.033) [env.py: 1079] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg [env.py: 1082] +05/11 03:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m [env.py: 1086] +05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:48:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:48:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:48:26 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3 [pipeline.py: 1044] +05/11 03:48:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/11 03:48:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:48:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:48:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:48:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.515s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:48:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.488[m] 88.461[deg] [grasp_sample.py: 539] +05/11 03:48:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:48:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:48:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:48:34 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:48:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/11 03:48:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 [save_utils.py: 785] +05/11 03:48:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_015 in 12.34s (batch: 4.45s, save: 7.88s) [pipeline.py: 300] +05/11 03:48:37 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s: + episode_total: mean=204.10s, total=204.10s, count=1, min=204095.4ms, max=204095.4ms + sensor_polling: mean=521.4ms, total=156.42s, count=300, min=423.5ms, max=833.7ms + save_trajectories: mean=7.88s, total=7.88s, count=1, min=7884.8ms, max=7884.8ms + physics_step: mean=24.7ms, total=7.40s, count=300, min=15.4ms, max=83.5ms + save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4453.7ms, max=4453.7ms + task_sampling: mean=512.0ms, total=512.0ms, count=1, min=512.0ms, max=512.0ms + task_specific_sample: mean=508.6ms, total=508.6ms, count=1, min=508.6ms, max=508.6ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=415.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/11 03:48:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1086] +05/11 03:48:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/11 03:48:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 63] +05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:48:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring. [object_manager.py: 1078] +05/11 03:48:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 178] +05/11 03:48:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 187] +05/11 03:48:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 256] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) [env.py: 845] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012748m [env.py: 870] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m [env.py: 871] +05/11 03:48:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius [env.py: 907] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting... [env.py: 969] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85344403 0.20166743 0.01274769] yaw=169.8deg [env.py: 1019] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04417625 0.85522167 0.01274769] yaw=-159.7deg [env.py: 1019] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12418287 1.17822263 0.01274769] yaw=-134.0deg [env.py: 1019] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/11 03:48:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.2ms [env.py: 1075] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.202, 0.013) [env.py: 1079] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg [env.py: 1082] +05/11 03:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m [env.py: 1086] +05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/11 03:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/11 03:48:39 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1136] +05/11 03:48:39 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3 [pipeline.py: 1044] +05/11 03:48:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/11 03:48:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 179] +05/11 03:48:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 388] +05/11 03:48:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 465] +05/11 03:48:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.664s, found feasible grasp: True [grasp_sample.py: 500] +05/11 03:48:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.441[m] 91.051[deg] [grasp_sample.py: 539] +05/11 03:48:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/11 03:48:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/11 03:48:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:48:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:48:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:48:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:48:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:49:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:49:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:49:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:49:32 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/11 03:49:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:49:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/11 03:49:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/11 03:50:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/11 03:50:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/11 03:50:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/11 03:50:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/11 03:50:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/11 03:50:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] diff --git a/fridge_7/chunk_015/shard_1_of_4.log b/fridge_7/chunk_015/shard_1_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..9ecee7eaf7bc1d2bef8fd713a770671b49e5411e --- /dev/null +++ b/fridge_7/chunk_015/shard_1_of_4.log @@ -0,0 +1,1242 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_015 + shard=1/4 seed=21501 samples=3 + CUDA_VISIBLE_DEVICES=0 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:15:35 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 03:15:35 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 03:15:35 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_015'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 03:15:35 INFO pipeline.py:1367] {'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_7/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_7', + 'seed': 21501, + '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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:15:35 Worker 0 INFO task_sampler.py:317] 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'}} +[05/11 03:15:35 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 03:15:35 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 127001078318096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 127001078318096 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 127001078318096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 127001078318096 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 127001074452048 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127001074452048 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 127001074457232 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127001074457232 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 127001074457232 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127001074457232 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 127001074452048 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127001074452048 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 127001073709072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127001073709072 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 127001073706832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127001073706832 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 127001073706832 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 127001073706832 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 127001073709072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 127001073709072 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 03:15:35 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 03:15:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:15:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) +[05/11 03:15:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:15:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:15:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007136m +[05/11 03:15:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:15:38 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 03:15:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89961631 0.34573312 0.00713649] yaw=176.3deg +[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95030226 0.22862237 0.00713649] yaw=169.5deg +[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97053286 1.19323584 0.00713649] yaw=-138.3deg +[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:15:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:15:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=44.5ms, retries=418.9ms, total=463.5ms +[05/11 03:15:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.346, 0.007) +[05/11 03:15:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.3 deg +[05/11 03:15:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m +[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:15:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:15:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 03:16:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.466s +[05/11 03:16:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:16:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:16:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.358[m] 86.070[deg] +[05/11 03:16:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:16:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:16:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:16:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:18:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 03:18:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:18:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes +[05/11 03:18:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps +[05/11 03:19:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 03:19:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:19:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.40s (batch: 4.52s, save: 8.88s) +[05/11 03:19:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.84s: + episode_total: mean=218.09s, total=218.09s, count=1, min=218086.3ms, max=218086.3ms + sensor_polling: mean=481.7ms, total=140.65s, count=292, min=459.9ms, max=686.7ms + save_trajectories: mean=8.88s, total=8.88s, count=1, min=8883.7ms, max=8883.7ms + physics_step: mean=23.6ms, total=6.90s, count=292, min=16.0ms, max=35.5ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4520.0ms, max=4520.0ms + task_sampling: mean=3.84s, total=3.84s, count=1, min=3841.2ms, max=3841.2ms + scene_load: mean=2.83s, total=2.83s, count=1, min=2830.0ms, max=2830.0ms + scene_env_create: mean=1.83s, total=1.83s, count=1, min=1832.0ms, max=1832.0ms + task_specific_sample: mean=1.01s, total=1.01s, count=1, min=1005.3ms, max=1005.3ms + scene_compile: mean=783.3ms, total=783.3ms, count=1, min=783.3ms, max=783.3ms + compile_mujoco: mean=583.4ms, total=583.4ms, count=1, min=583.4ms, max=583.4ms + compile_xml_load: mean=141.2ms, total=141.2ms, count=1, min=141.2ms, max=141.2ms + scene_init: mean=119.9ms, total=119.9ms, count=1, min=119.9ms, max=119.9ms + scene_asset_install: mean=94.5ms, total=94.5ms, count=1, min=94.5ms, max=94.5ms + asset_install_grasps: mean=59.5ms, total=59.5ms, count=1, min=59.5ms, max=59.5ms + compile_aux_objects: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms + compile_aux_policy_objects: mean=40.2ms, total=40.2ms, count=1, min=40.2ms, max=40.2ms + asset_install_scene: mean=18.3ms, total=18.3ms, count=1, min=18.3ms, max=18.3ms + asset_install_objects: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms + compile_robot_add: mean=6.2ms, total=6.2ms, count=1, min=6.2ms, max=6.2ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=606.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=44.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:19:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:19:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:19:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:19:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:19:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:19:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:19:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:19:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:19:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:19:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:19:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) +[05/11 03:19:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:19:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:19:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071340m +[05/11 03:19:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:19:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:19:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:19:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:19:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:19:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:19:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88148199 0.27751991 0.07133959] yaw=168.2deg +[05/11 03:19:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:19:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:19:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95486622 0.10041249 0.07133959] yaw=158.5deg +[05/11 03:19:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:19:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80868974 0.66748343 0.07133959] yaw=-176.2deg +[05/11 03:19:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:19:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:19:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.1ms, total=141.1ms +[05/11 03:19:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.278, 0.071) +[05/11 03:19:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg +[05/11 03:19:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.846m +[05/11 03:19:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:19:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:19:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:19:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:19:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:19:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 03:19:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s +[05/11 03:19:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:19:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:19:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 03:19:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True +[05/11 03:19:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.396[m] 87.301[deg] +[05/11 03:19:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:19:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:19:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:20:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:20:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:21:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:21:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:21:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:21:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:21:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps +[05/11 03:21:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.543s, found feasible grasp: True +[05/11 03:21:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.550[deg] +[05/11 03:21:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:21:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:21:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:21:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:21:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:21:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:21:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:21:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:21:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:21:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:21:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:21:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) +[05/11 03:21:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:21:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:21:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066057m +[05/11 03:21:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:21:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:21:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:21:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:21:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:21:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:21:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:21:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85457939 0.75807875 0.0660568 ] yaw=-154.0deg +[05/11 03:21:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:21:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93820141 0.84368813 0.0660568 ] yaw=-143.6deg +[05/11 03:21:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:21:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.9275821 0.76739722 0.0660568 ] yaw=-171.1deg +[05/11 03:21:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:21:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:21:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=304.2ms, total=304.2ms +[05/11 03:21:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.855, 0.758, 0.066) +[05/11 03:21:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.0 deg +[05/11 03:21:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m +[05/11 03:21:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:21:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:21:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:21:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:21:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:21:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 03:21:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s +[05/11 03:21:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:21:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:21:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 03:21:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True +[05/11 03:21:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.452[m] 83.724[deg] +[05/11 03:21:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:21:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:21:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:22:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:22:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:23:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True +[05/11 03:24:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:24:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes +[05/11 03:24:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:24:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:24:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:24:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.73s (batch: 4.49s, save: 8.24s) +[05/11 03:24:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.98s: + episode_total: mean=150.27s, total=300.55s, count=2, min=111807.5ms, max=188740.2ms + sensor_polling: mean=476.3ms, total=236.25s, count=496, min=441.2ms, max=680.6ms + physics_step: mean=22.4ms, total=11.09s, count=496, min=17.1ms, max=33.8ms + save_trajectories: mean=8.24s, total=8.24s, count=1, min=8244.2ms, max=8244.2ms + save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4486.5ms, max=4486.5ms + task_sampling: mean=490.1ms, total=980.2ms, count=2, min=411.2ms, max=569.0ms + task_specific_sample: mean=486.6ms, total=973.3ms, count=2, min=407.4ms, max=565.9ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms + mj_forward_sync: mean=438.7us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=24.1us, 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 +[05/11 03:24:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:24:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:24:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:24:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:24:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:24:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:24:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:24:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:24:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:24:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:24:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) +[05/11 03:24:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:24:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:24:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064817m +[05/11 03:24:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:24:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:24:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:24:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87034528 0.83148243 0.06481704] yaw=-158.3deg +[05/11 03:24:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:24:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:24:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:24:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:24:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74451846 0.43770765 0.06481704] yaw=185.4deg +[05/11 03:24:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:24:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80594584 1.09666437 0.06481704] yaw=-138.6deg +[05/11 03:24:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:24:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:24:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.9ms, total=133.9ms +[05/11 03:24:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.831, 0.065) +[05/11 03:24:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.3 deg +[05/11 03:24:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.902m +[05/11 03:24:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:24:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:24:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:24:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:24:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:24:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/11 03:24:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s +[05/11 03:24:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:24:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:24:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 03:24:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True +[05/11 03:24:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.457[m] 88.981[deg] +[05/11 03:24:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:24:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:24:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:25:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:25:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:25:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:27:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/11 03:27:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:27:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes +[05/11 03:27:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:27:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:27:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:27:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.89s (batch: 4.32s, save: 8.57s) +[05/11 03:27:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s: + episode_total: mean=202.56s, total=202.56s, count=1, min=202563.2ms, max=202563.2ms + sensor_polling: mean=503.0ms, total=150.90s, count=300, min=438.2ms, max=1078.4ms + save_trajectories: mean=8.57s, total=8.57s, count=1, min=8571.8ms, max=8571.8ms + physics_step: mean=24.1ms, total=7.22s, count=300, min=15.7ms, max=89.4ms + save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4318.2ms, max=4318.2ms + task_sampling: mean=426.6ms, total=426.6ms, count=1, min=426.6ms, max=426.6ms + task_specific_sample: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=414.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=26.8us, 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 +[05/11 03:27:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:27:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:27:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:27:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:27:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:27:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:27:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) +[05/11 03:27:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:27:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:27:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031017m +[05/11 03:27:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:27:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:27:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97156527 0.94456377 0.03101667] yaw=-145.9deg +[05/11 03:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:27:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9031036 0.89461241 0.03101667] yaw=-145.5deg +[05/11 03:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:27:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88031729 0.61918746 0.03101667] yaw=-169.2deg +[05/11 03:27:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:27:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:27:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=141.2ms, total=141.3ms +[05/11 03:27:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.945, 0.031) +[05/11 03:27:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.9 deg +[05/11 03:27:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.865m +[05/11 03:27:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:27:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:27:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:27:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:27:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:27:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/11 03:27:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s +[05/11 03:27:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:27:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:27:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps +[05/11 03:27:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True +[05/11 03:27:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.424[m] 89.766[deg] +[05/11 03:27:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:28:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:28:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:28:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:30:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True +[05/11 03:30:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:30:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes +[05/11 03:30:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:31:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:31:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:31:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 14.47s (batch: 4.37s, save: 10.11s) +[05/11 03:31:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.44s: + episode_total: mean=208.82s, total=208.82s, count=1, min=208816.4ms, max=208816.4ms + sensor_polling: mean=515.5ms, total=154.65s, count=300, min=435.2ms, max=959.7ms + save_trajectories: mean=10.11s, total=10.11s, count=1, min=10106.3ms, max=10106.3ms + physics_step: mean=24.7ms, total=7.40s, count=300, min=17.9ms, max=107.0ms + save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4365.2ms, max=4365.2ms + task_sampling: mean=438.6ms, total=438.6ms, count=1, min=438.6ms, max=438.6ms + task_specific_sample: mean=434.3ms, total=434.3ms, count=1, min=434.3ms, max=434.3ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=596.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:31:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:31:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:31:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:31:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:31:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:31:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:31:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:31:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:31:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:31:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:31:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) +[05/11 03:31:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:31:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:31:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084125m +[05/11 03:31:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:31:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:31:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:31:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04155463 1.15376563 0.0841248 ] yaw=-143.0deg +[05/11 03:31:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:31:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81025765 0.29281103 0.0841248 ] yaw=165.2deg +[05/11 03:31:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:31:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:31:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.0ms, total=244.0ms +[05/11 03:31:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.154, 0.084) +[05/11 03:31:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg +[05/11 03:31:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.942m +[05/11 03:31:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:31:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:31:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:31:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:31:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 03:31:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s +[05/11 03:31:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:31:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:31:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps +[05/11 03:31:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.580s, found feasible grasp: True +[05/11 03:31:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.519[m] 82.454[deg] +[05/11 03:31:17 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:31:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:31:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:31:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:31:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:31:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:31:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:31:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:31:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:31:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:31:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:31:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m) +[05/11 03:31:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:31:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:31:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011962m +[05/11 03:31:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:31:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:31:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:31:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67249064 0.8639138 0.01196235] yaw=-150.6deg +[05/11 03:31:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:31:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:31:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:31:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:31:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80016262 0.21893148 0.01196235] yaw=155.9deg +[05/11 03:31:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:31:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74629135 0.41029494 0.01196235] yaw=186.3deg +[05/11 03:31:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:31:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:31:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.2ms, total=136.2ms +[05/11 03:31:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.672, 0.864, 0.012) +[05/11 03:31:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.6 deg +[05/11 03:31:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.098m +[05/11 03:31:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:31:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:31:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:31:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:31:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:31:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 03:31:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s +[05/11 03:31:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:31:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:31:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps +[05/11 03:31:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.620s, found feasible grasp: True +[05/11 03:31:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.674[m] 85.087[deg] +[05/11 03:31:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:31:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:31:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:32:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:34:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True +[05/11 03:34:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:34:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes +[05/11 03:34:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:34:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:34:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:34:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.37s (batch: 4.04s, save: 8.32s) +[05/11 03:34:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.92s: + episode_total: mean=102.87s, total=205.74s, count=2, min=3267.3ms, max=202473.7ms + sensor_polling: mean=506.0ms, total=151.80s, count=300, min=432.8ms, max=971.6ms + save_trajectories: mean=8.32s, total=8.32s, count=1, min=8324.0ms, max=8324.0ms + physics_step: mean=25.2ms, total=7.57s, count=300, min=15.1ms, max=136.1ms + save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.6ms, max=4042.6ms + task_sampling: mean=458.4ms, total=916.9ms, count=2, min=375.0ms, max=541.9ms + task_specific_sample: mean=454.8ms, total=909.5ms, count=2, min=372.1ms, max=537.5ms + scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms + mj_forward_sync: mean=429.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=23.8us, 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 +[05/11 03:34:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:34:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:34:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:34:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:34:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:34:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:34:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:34:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:34:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:34:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:34:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m) +[05/11 03:34:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:34:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:34:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096489m +[05/11 03:34:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:34:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:34:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:34:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64826685 0.70949934 0.09648935] yaw=-157.3deg +[05/11 03:34:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:34:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78873961 0.98846192 0.09648935] yaw=-149.2deg +[05/11 03:34:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:34:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:34:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:34:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:34:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.71970079 0.02457172 0.09648935] yaw=148.9deg +[05/11 03:34:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:34:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:34:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.5ms +[05/11 03:34:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.648, 0.709, 0.096) +[05/11 03:34:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.3 deg +[05/11 03:34:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.078m +[05/11 03:34:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:34:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:34:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:34:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:34:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:34:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 03:34:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s +[05/11 03:34:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:34:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:34:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps +[05/11 03:34:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.238s, found feasible grasp: True +[05/11 03:34:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.630[m] 81.399[deg] +[05/11 03:34:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:34:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:34:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:35:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:35:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:36:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:36:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:36:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:36:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:36:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:36:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:36:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:36:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 82 non-colliding grasps +[05/11 03:36:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 6.535s, found feasible grasp: True +[05/11 03:36:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 147 (originally 32): w/ 0.220[m] 1.990[deg] +[05/11 03:36:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:36:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:36:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:36:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:36:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:36:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:36:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:36:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:36:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:36:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:36:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:36:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m) +[05/11 03:36:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:36:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:36:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048575m +[05/11 03:36:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:36:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:36:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:36:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:36:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:36:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:36:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90698368 0.59849913 0.04857485] yaw=-169.9deg +[05/11 03:36:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:36:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86729377 1.1201851 0.04857485] yaw=-138.6deg +[05/11 03:36:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:36:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88138684 0.27171043 0.04857485] yaw=161.9deg +[05/11 03:36:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:36:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:36:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms +[05/11 03:36:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.598, 0.049) +[05/11 03:36:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.9 deg +[05/11 03:36:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m +[05/11 03:36:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:36:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:36:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:36:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:36:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:36:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 03:36:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s +[05/11 03:36:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:36:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:36:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 03:36:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.545s, found feasible grasp: True +[05/11 03:36:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.411[m] 97.422[deg] +[05/11 03:36:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:37:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:37:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:39:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True +[05/11 03:39:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:39:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes +[05/11 03:39:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:39:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:39:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:39:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.79s (batch: 4.35s, save: 9.44s) +[05/11 03:39:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.90s: + episode_total: mean=152.22s, total=304.43s, count=2, min=96420.7ms, max=208013.8ms + sensor_polling: mean=506.1ms, total=219.66s, count=434, min=439.1ms, max=1082.9ms + physics_step: mean=23.9ms, total=10.36s, count=434, min=15.3ms, max=77.9ms + save_trajectories: mean=9.44s, total=9.44s, count=1, min=9437.4ms, max=9437.4ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4348.6ms, max=4348.6ms + task_sampling: mean=452.4ms, total=904.7ms, count=2, min=416.1ms, max=488.6ms + task_specific_sample: mean=448.5ms, total=897.0ms, count=2, min=412.5ms, max=484.5ms + scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.9ms, max=2.7ms + mj_forward_sync: mean=413.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 03:39:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:39:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:39:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:39:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:39:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:39:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:39:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:39:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:39:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:39:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:39:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m) +[05/11 03:39:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:39:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:39:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041517m +[05/11 03:39:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:39:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:39:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:39:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89324468 0.67060316 0.0415171 ] yaw=-164.1deg +[05/11 03:39:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:39:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:39:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:39:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88645018 0.45671413 0.0415171 ] yaw=177.9deg +[05/11 03:39:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:39:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:39:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85244957 0.89403283 0.0415171 ] yaw=-157.3deg +[05/11 03:39:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:39:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:39:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.7ms, total=293.7ms +[05/11 03:39:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.671, 0.042) +[05/11 03:39:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.1 deg +[05/11 03:39:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.831m +[05/11 03:39:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:39:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:39:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:39:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:39:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:39:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/11 03:39:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.182s +[05/11 03:39:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:39:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:39:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps +[05/11 03:39:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.051s, found feasible grasp: True +[05/11 03:39:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.417[m] 91.523[deg] +[05/11 03:39:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:39:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:40:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:40:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:40:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:42:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True +[05/11 03:43:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:43:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes +[05/11 03:43:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:43:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:43:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:43:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 17.80s (batch: 4.62s, save: 13.18s) +[05/11 03:43:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.71s: + episode_total: mean=210.15s, total=210.15s, count=1, min=210152.2ms, max=210152.2ms + sensor_polling: mean=511.4ms, total=153.41s, count=300, min=445.1ms, max=783.1ms + save_trajectories: mean=13.18s, total=13.18s, count=1, min=13177.5ms, max=13177.5ms + physics_step: mean=23.4ms, total=7.02s, count=300, min=17.8ms, max=76.1ms + save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4622.7ms, max=4622.7ms + task_sampling: mean=708.7ms, total=708.7ms, count=1, min=708.7ms, max=708.7ms + task_specific_sample: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms + scene_randomize: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms + mj_forward_sync: mean=500.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.0us, 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 +[05/11 03:43:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:43:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:43:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:43:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:43:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:43:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:43:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:43:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:43:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:43:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:43:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m) +[05/11 03:43:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:43:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:43:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067415m +[05/11 03:43:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:43:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:43:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:43:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:43:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:43:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62809122 0.51500856 0.06741524] yaw=-171.7deg +[05/11 03:43:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:43:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:43:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:43:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89964443 0.60257767 0.06741524] yaw=-171.9deg +[05/11 03:43:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:43:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.88652781 0.89889746 0.06741524] yaw=-147.7deg +[05/11 03:43:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:43:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:43:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=315.7ms, total=315.7ms +[05/11 03:43:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.628, 0.515, 0.067) +[05/11 03:43:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.7 deg +[05/11 03:43:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.075m +[05/11 03:43:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:43:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:43:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:43:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:43:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:43:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 03:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s +[05/11 03:43:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:43:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:43:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps +[05/11 03:43:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.789s, found feasible grasp: True +[05/11 03:43:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.653[m] 95.240[deg] +[05/11 03:43:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:43:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:43:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:44:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:44:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:44:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:44:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:44:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 03:44:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.572s, found feasible grasp: True +[05/11 03:44:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.052[m] 2.041[deg] +[05/11 03:44:54 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:44:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:44:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:44:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:44:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:44:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:44:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:44:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:44:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:44:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:44:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:44:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) +[05/11 03:44:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:44:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:44:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080972m +[05/11 03:44:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:44:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:44:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:44:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:44:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:44:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85873751 0.43326256 0.08097246] yaw=179.1deg +[05/11 03:44:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:44:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:44:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:44:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:44:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms +[05/11 03:44:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.433, 0.081) +[05/11 03:44:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.1 deg +[05/11 03:44:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.845m +[05/11 03:44:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:44:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:44:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:44:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:44:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:44:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 03:44:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s +[05/11 03:44:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:44:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:44:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 03:44:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True +[05/11 03:44:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.436[m] 101.482[deg] +[05/11 03:44:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:44:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:44:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:45:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:47:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True +[05/11 03:48:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:48:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 1/4: 1 episodes +[05/11 03:48:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:48:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:48:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:48:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.56s (batch: 4.26s, save: 9.30s) +[05/11 03:48:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=1.10s: + episode_total: mean=149.64s, total=299.28s, count=2, min=90762.3ms, max=208519.7ms + sensor_polling: mean=523.8ms, total=228.36s, count=436, min=432.3ms, max=1001.2ms + physics_step: mean=24.6ms, total=10.74s, count=436, min=14.6ms, max=70.8ms + save_trajectories: mean=9.30s, total=9.30s, count=1, min=9297.3ms, max=9297.3ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4258.1ms, max=4258.1ms + task_sampling: mean=550.0ms, total=1.10s, count=2, min=485.6ms, max=614.5ms + task_specific_sample: mean=546.7ms, total=1.09s, count=2, min=482.6ms, max=610.9ms + scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms + mj_forward_sync: mean=411.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.1us, 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 +[05/11 03:48:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:48:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:48:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:48:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:48:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:48:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:48:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:48:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:48:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:48:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:48:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) +[05/11 03:48:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:48:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:48:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032657m +[05/11 03:48:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:48:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:48:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:48:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83362872 0.12770432 0.03265668] yaw=168.3deg +[05/11 03:48:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:48:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68341456 0.57000592 0.03265668] yaw=-185.7deg +[05/11 03:48:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:48:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92004335 0.96073435 0.03265668] yaw=-137.3deg +[05/11 03:48:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:48:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:48:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.8ms, total=91.9ms +[05/11 03:48:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.128, 0.033) +[05/11 03:48:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.3 deg +[05/11 03:48:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.938m +[05/11 03:48:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:48:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:48:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:48:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:48:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:48:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3 +[05/11 03:48:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s +[05/11 03:48:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:48:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:48:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps +[05/11 03:48:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.515s, found feasible grasp: True +[05/11 03:48:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.488[m] 88.461[deg] +[05/11 03:48:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:48:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:48:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:49:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:49:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:49:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift diff --git a/fridge_7/chunk_015/shard_2_of_4.log b/fridge_7/chunk_015/shard_2_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..6424eef840a1cb1812cddf2b1b4b44d3ff5c1765 --- /dev/null +++ b/fridge_7/chunk_015/shard_2_of_4.log @@ -0,0 +1,1260 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_015 + shard=2/4 seed=21502 samples=3 + CUDA_VISIBLE_DEVICES=1 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:15:34 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 03:15:34 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 03:15:34 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_015'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 03:15:34 INFO pipeline.py:1367] {'batch_num': 2, + '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_7/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_7', + 'seed': 21502, + '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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:15:34 Worker 0 INFO task_sampler.py:317] 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'}} +[05/11 03:15:34 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 03:15:34 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 134366178661520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 134366178661520 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 134366178661520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 134366178661520 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 134366180573648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 134366180573648 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 134366180580496 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 134366180580496 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 134366180580496 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 134366180580496 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 134366180573648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 134366180573648 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 134366176644944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 134366176644944 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 134366176642512 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 134366176642512 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 134366176642512 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 134366176642512 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 134366176644944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 134366176644944 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 03:15:35 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 03:15:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:15:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) +[05/11 03:15:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:15:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:15:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000292m +[05/11 03:15:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:15:38 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 03:15:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.00555496e-01 8.00358475e-01 2.92137039e-04] yaw=-168.3deg +[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:15:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=12.7ms, retries=778.7ms, total=791.4ms +[05/11 03:15:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.801, 0.800, 0.000) +[05/11 03:15:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg +[05/11 03:15:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.956m +[05/11 03:15:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:15:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:15:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:15:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:15:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:15:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 03:16:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.293s +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps +[05/11 03:16:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.612s, found feasible grasp: True +[05/11 03:16:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.494[m] 88.037[deg] +[05/11 03:16:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:16:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:18:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 03:19:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:19:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes +[05/11 03:19:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:19:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 03:19:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:19:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.37s (batch: 4.55s, save: 8.82s) +[05/11 03:19:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.36s: + episode_total: mean=220.12s, total=220.12s, count=1, min=220116.6ms, max=220116.6ms + sensor_polling: mean=475.3ms, total=142.60s, count=300, min=451.2ms, max=646.2ms + save_trajectories: mean=8.82s, total=8.82s, count=1, min=8818.7ms, max=8818.7ms + physics_step: mean=21.4ms, total=6.43s, count=300, min=16.3ms, max=66.0ms + save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4548.3ms, max=4548.3ms + task_sampling: mean=4.36s, total=4.36s, count=1, min=4363.6ms, max=4363.6ms + scene_load: mean=3.23s, total=3.23s, count=1, min=3225.6ms, max=3225.6ms + scene_env_create: mean=2.02s, total=2.02s, count=1, min=2021.2ms, max=2021.2ms + task_specific_sample: mean=1.13s, total=1.13s, count=1, min=1135.0ms, max=1135.0ms + scene_compile: mean=1.10s, total=1.10s, count=1, min=1102.4ms, max=1102.4ms + compile_mujoco: mean=707.8ms, total=707.8ms, count=1, min=707.8ms, max=707.8ms + compile_xml_load: mean=325.6ms, total=325.6ms, count=1, min=325.6ms, max=325.6ms + scene_init: mean=61.7ms, total=61.7ms, count=1, min=61.7ms, max=61.7ms + compile_aux_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms + compile_aux_policy_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms + scene_asset_install: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms + asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms + compile_robot_add: mean=15.7ms, total=15.7ms, count=1, min=15.7ms, max=15.7ms + asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms + asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=390.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=51.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms +[05/11 03:19:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:19:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:19:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:19:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:19:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:19:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:19:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:19:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:19:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:19:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:19:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) +[05/11 03:19:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:19:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:19:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091098m +[05/11 03:19:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:19:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:19:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:19:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:19:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:19:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:19:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:19:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:19:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82483565 0.84246464 0.0910976 ] yaw=-164.0deg +[05/11 03:19:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:19:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.01363047 1.20716176 0.0910976 ] yaw=-141.5deg +[05/11 03:19:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:19:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:19:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.6ms, total=187.6ms +[05/11 03:19:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.842, 0.091) +[05/11 03:19:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.0 deg +[05/11 03:19:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.949m +[05/11 03:19:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:19:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:19:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:19:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:19:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:19:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 03:19:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/11 03:19:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:19:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:19:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.080s, found 88 non-colliding grasps +[05/11 03:19:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True +[05/11 03:19:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.512[m] 87.020[deg] +[05/11 03:19:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:20:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:21:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True +[05/11 03:22:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:22:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes +[05/11 03:22:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:22:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:22:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:22:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.17s (batch: 4.26s, save: 8.91s) +[05/11 03:22:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s: + episode_total: mean=187.12s, total=187.12s, count=1, min=187120.0ms, max=187120.0ms + sensor_polling: mean=475.4ms, total=142.62s, count=300, min=446.4ms, max=679.9ms + save_trajectories: mean=8.91s, total=8.91s, count=1, min=8907.0ms, max=8907.0ms + physics_step: mean=22.2ms, total=6.67s, count=300, min=19.2ms, max=33.6ms + save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4265.0ms, max=4265.0ms + task_sampling: mean=466.7ms, total=466.7ms, count=1, min=466.7ms, max=466.7ms + task_specific_sample: mean=462.7ms, total=462.7ms, count=1, min=462.7ms, max=462.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=436.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:22:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:22:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:22:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:22:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:22:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:22:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:22:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:22:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:22:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:22:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) +[05/11 03:22:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:22:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:22:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064625m +[05/11 03:22:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:22:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:22:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:22:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:22:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:22:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:22:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93517728 1.24983006 0.06462481] yaw=-126.6deg +[05/11 03:22:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:22:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:22:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66621522 0.42812393 0.06462481] yaw=174.3deg +[05/11 03:22:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:22:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73803355 0.24563791 0.06462481] yaw=170.0deg +[05/11 03:22:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:22:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:22:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.8ms, total=158.8ms +[05/11 03:22:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.935, 1.250, 0.065) +[05/11 03:22:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.6 deg +[05/11 03:22:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.085m +[05/11 03:22:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:22:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:22:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:22:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:22:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 03:22:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s +[05/11 03:22:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:22:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:22:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps +[05/11 03:22:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.596s, found feasible grasp: False +[05/11 03:22:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: No feasible grasp found +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout + observation, _info = task.reset() # don't update env after reset! + ^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset + self._registered_policy.reset() + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses + grasp_pose_world = compute_grasp_pose( + ^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose + raise ValueError("No feasible grasp found") +ValueError: No feasible grasp found +[05/11 03:22:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:22:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:22:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:22:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:22:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:22:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:22:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:22:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:22:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:22:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:22:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) +[05/11 03:22:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:22:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:22:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064569m +[05/11 03:22:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:22:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:22:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:22:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:22:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78906162 0.49560494 0.06456903] yaw=-173.9deg +[05/11 03:22:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:22:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:22:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:22:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94726159 0.95157912 0.06456903] yaw=-150.1deg +[05/11 03:22:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:22:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00632763 1.04001659 0.06456903] yaw=-150.4deg +[05/11 03:22:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:22:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:22:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.1ms, total=139.1ms +[05/11 03:22:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.789, 0.496, 0.065) +[05/11 03:22:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg +[05/11 03:22:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.913m +[05/11 03:22:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:22:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:22:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:22:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:22:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:22:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/11 03:22:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s +[05/11 03:22:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:22:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:22:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 03:22:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.583s, found feasible grasp: True +[05/11 03:22:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.519[m] 98.467[deg] +[05/11 03:22:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:23:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:24:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:24:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:24:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:25:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/11 03:25:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:25:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes +[05/11 03:25:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:25:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:25:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:25:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 14.84s (batch: 4.67s, save: 10.17s) +[05/11 03:25:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.83s: + episode_total: mean=99.71s, total=199.43s, count=2, min=2174.2ms, max=197251.9ms + sensor_polling: mean=473.9ms, total=142.16s, count=300, min=442.1ms, max=693.3ms + save_trajectories: mean=10.17s, total=10.17s, count=1, min=10174.7ms, max=10174.7ms + physics_step: mean=21.6ms, total=6.49s, count=300, min=14.8ms, max=32.5ms + save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4666.8ms, max=4666.8ms + task_sampling: mean=412.7ms, total=825.4ms, count=2, min=379.6ms, max=445.8ms + task_specific_sample: mean=409.3ms, total=818.6ms, count=2, min=376.8ms, max=441.8ms + scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.7ms + mj_forward_sync: mean=430.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 03:25:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:25:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:25:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:25:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:25:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:25:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:25:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:25:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:25:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:25:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:25:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m) +[05/11 03:25:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:25:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:25:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076831m +[05/11 03:25:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:25:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:25:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:25:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:25:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:25:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92960919 1.06869268 0.07683093] yaw=-153.2deg +[05/11 03:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68033825 0.87675813 0.07683093] yaw=-161.1deg +[05/11 03:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94014105 0.12535748 0.07683093] yaw=143.7deg +[05/11 03:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:25:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:25:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.6ms, total=140.6ms +[05/11 03:25:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.930, 1.069, 0.077) +[05/11 03:25:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.2 deg +[05/11 03:25:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.970m +[05/11 03:25:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:25:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:25:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:25:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:25:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:25:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/11 03:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s +[05/11 03:25:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:25:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:25:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps +[05/11 03:25:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.817s, found feasible grasp: True +[05/11 03:25:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.539[m] 80.886[deg] +[05/11 03:25:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:25:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:25:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:27:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:27:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:28:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:28:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:28:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:28:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:28:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:28:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:28:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:28:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:28:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:28:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:28:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:28:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:28:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps +[05/11 03:28:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.622s, found feasible grasp: True +[05/11 03:28:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.249[deg] +[05/11 03:28:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:28:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:28:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:28:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:28:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:28:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:28:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:28:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:28:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:28:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:28:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:28:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m) +[05/11 03:28:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:28:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:28:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010810m +[05/11 03:28:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:28:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:28:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:28:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:28:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80637939 0.07907997 0.01080995] yaw=166.9deg +[05/11 03:28:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:28:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:28:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91626546 0.84223753 0.01080995] yaw=-153.2deg +[05/11 03:28:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:28:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89098495 0.6146414 0.01080995] yaw=-180.5deg +[05/11 03:28:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:28:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:28:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.6ms, total=110.7ms +[05/11 03:28:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.079, 0.011) +[05/11 03:28:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.9 deg +[05/11 03:28:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.982m +[05/11 03:28:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:28:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:28:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:28:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:28:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:28:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 03:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s +[05/11 03:28:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:28:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:28:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps +[05/11 03:28:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.710s, found feasible grasp: True +[05/11 03:28:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.518[m] 77.938[deg] +[05/11 03:28:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:28:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:28:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:29:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:30:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:31:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:31:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:31:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:31:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:31:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:31:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:31:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:31:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps +[05/11 03:31:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.413s, found feasible grasp: True +[05/11 03:31:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.381[deg] +[05/11 03:31:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:31:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True +[05/11 03:32:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:32:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes +[05/11 03:32:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:32:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:32:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:32:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.10s (batch: 4.24s, save: 8.86s) +[05/11 03:32:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.96s: + episode_total: mean=203.30s, total=406.59s, count=2, min=176381.5ms, max=230212.9ms + sensor_polling: mean=519.8ms, total=308.78s, count=594, min=435.5ms, max=972.8ms + physics_step: mean=25.9ms, total=15.40s, count=594, min=13.8ms, max=90.0ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8857.7ms, max=8857.7ms + save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4240.3ms, max=4240.3ms + task_sampling: mean=481.2ms, total=962.3ms, count=2, min=446.5ms, max=515.8ms + task_specific_sample: mean=476.5ms, total=953.0ms, count=2, min=441.7ms, max=511.4ms + scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=2.1ms, max=2.8ms + mj_forward_sync: mean=665.3us, total=1.3ms, count=2, min=0.6ms, max=0.8ms + policy_setup: mean=27.7us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 03:32:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:32:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:32:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:32:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:32:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:32:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:32:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:32:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) +[05/11 03:32:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:32:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:32:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003276m +[05/11 03:32:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:32:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:32:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95025718 0.30956795 0.00327616] yaw=162.7deg +[05/11 03:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89220964 0.37363091 0.00327616] yaw=165.1deg +[05/11 03:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.01575284 0.97954785 0.00327616] yaw=-145.9deg +[05/11 03:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:32:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:32:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=474.2ms, total=474.3ms +[05/11 03:32:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.310, 0.003) +[05/11 03:32:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.7 deg +[05/11 03:32:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.772m +[05/11 03:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:32:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:32:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:32:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 03:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.119s +[05/11 03:32:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:32:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:32:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.105s, found 88 non-colliding grasps +[05/11 03:32:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.218s, found feasible grasp: True +[05/11 03:32:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.283[m] 77.001[deg] +[05/11 03:32:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:33:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:33:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:33:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:34:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:34:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:34:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:34:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:34:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:34:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:34:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:34:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:34:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:34:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:34:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:34:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:34:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps +[05/11 03:34:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.904s, found feasible grasp: True +[05/11 03:34:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.946[deg] +[05/11 03:34:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:34:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:34:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:34:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:34:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:34:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:35:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True +[05/11 03:36:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:36:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes +[05/11 03:36:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:36:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:36:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:36:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.59s (batch: 4.61s, save: 8.98s) +[05/11 03:36:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.77s: + episode_total: mean=225.86s, total=225.86s, count=1, min=225863.8ms, max=225863.8ms + sensor_polling: mean=520.6ms, total=156.19s, count=300, min=449.3ms, max=1048.1ms + save_trajectories: mean=8.98s, total=8.98s, count=1, min=8981.2ms, max=8981.2ms + physics_step: mean=26.7ms, total=8.01s, count=300, min=17.9ms, max=69.1ms + save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.4ms, max=4607.4ms + task_sampling: mean=766.1ms, total=766.1ms, count=1, min=766.1ms, max=766.1ms + task_specific_sample: mean=761.1ms, total=761.1ms, count=1, min=761.1ms, max=761.1ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=631.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:36:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:36:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:36:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:36:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:36:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:36:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:36:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m) +[05/11 03:36:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:36:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:36:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007962m +[05/11 03:36:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:36:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:36:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04054296 1.14401853 0.00796217] yaw=-141.7deg +[05/11 03:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:36:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.08522835 0.96475583 0.00796217] yaw=-151.3deg +[05/11 03:36:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:36:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:36:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=233.8ms, total=233.8ms +[05/11 03:36:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.041, 1.144, 0.008) +[05/11 03:36:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.7 deg +[05/11 03:36:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.936m +[05/11 03:36:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:36:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:36:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:36:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:36:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:36:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 03:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s +[05/11 03:36:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:36:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:36:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps +[05/11 03:36:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.114s, found feasible grasp: True +[05/11 03:36:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.524[m] 89.755[deg] +[05/11 03:36:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:36:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:36:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:37:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:37:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:37:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:38:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:38:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:38:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:38:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:38:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:38:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:39:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:39:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:39:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:39:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:39:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:39:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps +[05/11 03:39:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 5.076s, found feasible grasp: True +[05/11 03:39:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.224[m] 2.991[deg] +[05/11 03:39:06 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:39:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:39:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:39:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:39:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:39:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:39:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:39:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:39:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:39:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:39:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:39:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m) +[05/11 03:39:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:39:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:39:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034308m +[05/11 03:39:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:39:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:39:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:39:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9232798 0.82746261 0.03430795] yaw=-161.3deg +[05/11 03:39:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:39:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:39:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95427587 0.10818949 0.03430795] yaw=149.0deg +[05/11 03:39:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:39:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:39:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:39:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90137675 1.07680256 0.03430795] yaw=-136.0deg +[05/11 03:39:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:39:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:39:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=110.3ms, total=110.3ms +[05/11 03:39:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.923, 0.827, 0.034) +[05/11 03:39:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.3 deg +[05/11 03:39:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.852m +[05/11 03:39:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:39:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:39:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:39:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:39:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:39:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 03:39:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s +[05/11 03:39:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:39:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:39:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps +[05/11 03:39:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True +[05/11 03:39:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.430[m] 93.666[deg] +[05/11 03:39:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:39:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:39:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:39:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:40:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:41:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True +[05/11 03:42:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:42:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes +[05/11 03:42:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:42:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:42:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:42:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 16.30s (batch: 4.84s, save: 11.46s) +[05/11 03:42:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.97s: + episode_total: mean=184.87s, total=369.74s, count=2, min=160034.0ms, max=209707.6ms + sensor_polling: mean=508.4ms, total=283.20s, count=557, min=432.7ms, max=1189.6ms + physics_step: mean=24.6ms, total=13.70s, count=557, min=17.7ms, max=86.4ms + save_trajectories: mean=11.46s, total=11.46s, count=1, min=11460.4ms, max=11460.4ms + save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4840.8ms, max=4840.8ms + task_sampling: mean=485.4ms, total=970.9ms, count=2, min=375.6ms, max=595.2ms + task_specific_sample: mean=480.9ms, total=961.9ms, count=2, min=372.6ms, max=589.3ms + scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms + mj_forward_sync: mean=1.2ms, total=2.3ms, count=2, min=0.4ms, max=1.9ms + policy_setup: mean=32.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 03:42:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:42:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:42:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:42:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:42:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:42:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:42:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:42:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:42:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:42:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:42:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m) +[05/11 03:42:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:42:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:42:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055754m +[05/11 03:42:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:42:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:42:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:42:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96386093 0.19529431 0.0557537 ] yaw=165.9deg +[05/11 03:42:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:42:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:42:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78508702 0.06301189 0.0557537 ] yaw=154.9deg +[05/11 03:42:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:42:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96652933 0.79490721 0.0557537 ] yaw=-165.5deg +[05/11 03:42:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:42:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:42:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.1ms, total=259.1ms +[05/11 03:42:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.195, 0.056) +[05/11 03:42:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.9 deg +[05/11 03:42:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.792m +[05/11 03:42:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:42:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:42:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:42:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:42:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:42:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/11 03:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.159s +[05/11 03:42:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:42:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:42:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.154s, found 88 non-colliding grasps +[05/11 03:42:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.298s, found feasible grasp: True +[05/11 03:42:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.341[m] 90.590[deg] +[05/11 03:42:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:42:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:42:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:43:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:44:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:44:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:44:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:44:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:44:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:44:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:44:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:44:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:44:30 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:44:30 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:44:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:44:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:44:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps +[05/11 03:44:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True +[05/11 03:44:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.291[deg] +[05/11 03:44:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:44:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:44:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:44:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:44:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:44:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:44:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:44:44 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:44:44 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 03:44:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:44:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:44:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps +[05/11 03:44:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.352s, found feasible grasp: True +[05/11 03:44:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.280[deg] +[05/11 03:44:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:44:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:44:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:44:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:44:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:44:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3 +[05/11 03:44:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:44:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:44:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps +[05/11 03:44:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.353s, found feasible grasp: True +[05/11 03:44:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.280[deg] +[05/11 03:44:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:45:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:45:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:45:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:45:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:45:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:45:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:45:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:45:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:45:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:45:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:45:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:45:11 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed. +[05/11 03:45:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=False +[05/11 03:45:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=False episode_total=0.56s: + episode_total: mean=151.62s, total=151.62s, count=1, min=151619.7ms, max=151619.7ms + sensor_polling: mean=533.1ms, total=102.89s, count=193, min=447.1ms, max=1014.4ms + physics_step: mean=25.3ms, total=4.88s, count=193, min=13.0ms, max=104.0ms + task_sampling: mean=558.2ms, total=558.2ms, count=1, min=558.2ms, max=558.2ms + task_specific_sample: mean=554.1ms, total=554.1ms, count=1, min=554.1ms, max=554.1ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=491.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:45:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:45:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:45:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:45:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:45:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:45:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:45:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:45:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:45:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:45:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:45:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m) +[05/11 03:45:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:45:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:45:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083679m +[05/11 03:45:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:45:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:45:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:45:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.66016826 0.79564797 0.08367919] yaw=-174.4deg +[05/11 03:45:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:45:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:45:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:45:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:45:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02116707 0.83744707 0.08367919] yaw=-157.5deg +[05/11 03:45:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:45:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04817777 1.13303913 0.08367919] yaw=-126.4deg +[05/11 03:45:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:45:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:45:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.8ms, total=220.8ms +[05/11 03:45:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.660, 0.796, 0.084) +[05/11 03:45:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg +[05/11 03:45:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.088m +[05/11 03:45:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:45:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:45:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:45:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:45:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:45:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 03:45:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s +[05/11 03:45:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:45:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:45:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 03:45:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.610s, found feasible grasp: True +[05/11 03:45:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.677[m] 91.923[deg] +[05/11 03:45:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:45:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:45:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:46:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:46:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:46:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:48:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True +[05/11 03:48:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:48:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 2/4: 1 episodes +[05/11 03:48:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:48:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:48:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:48:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.34s (batch: 4.45s, save: 7.88s) +[05/11 03:48:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.51s: + episode_total: mean=204.10s, total=204.10s, count=1, min=204095.4ms, max=204095.4ms + sensor_polling: mean=521.4ms, total=156.42s, count=300, min=423.5ms, max=833.7ms + save_trajectories: mean=7.88s, total=7.88s, count=1, min=7884.8ms, max=7884.8ms + physics_step: mean=24.7ms, total=7.40s, count=300, min=15.4ms, max=83.5ms + save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4453.7ms, max=4453.7ms + task_sampling: mean=512.0ms, total=512.0ms, count=1, min=512.0ms, max=512.0ms + task_specific_sample: mean=508.6ms, total=508.6ms, count=1, min=508.6ms, max=508.6ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=415.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:48:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:48:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:48:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:48:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:48:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:48:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:48:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:48:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:48:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:48:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:48:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) +[05/11 03:48:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:48:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:48:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012748m +[05/11 03:48:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:48:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:48:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:48:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85344403 0.20166743 0.01274769] yaw=169.8deg +[05/11 03:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04417625 0.85522167 0.01274769] yaw=-159.7deg +[05/11 03:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:48:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12418287 1.17822263 0.01274769] yaw=-134.0deg +[05/11 03:48:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:48:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:48:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.2ms +[05/11 03:48:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.202, 0.013) +[05/11 03:48:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg +[05/11 03:48:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.894m +[05/11 03:48:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:48:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:48:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:48:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:48:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:48:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3 +[05/11 03:48:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s +[05/11 03:48:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:48:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:48:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 03:48:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.664s, found feasible grasp: True +[05/11 03:48:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.441[m] 91.051[deg] +[05/11 03:48:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:48:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:48:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:49:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:49:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:49:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift diff --git a/fridge_7/chunk_015/shard_3_of_4.log b/fridge_7/chunk_015/shard_3_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..9dcf0a0fcd4e1a08f1eba8c1801748e7d42b29ac --- /dev/null +++ b/fridge_7/chunk_015/shard_3_of_4.log @@ -0,0 +1,1181 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_015 + shard=3/4 seed=21503 samples=3 + CUDA_VISIBLE_DEVICES=2 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:15:35 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 03:15:35 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 03:15:35 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_015'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 03:15:35 INFO pipeline.py:1367] {'batch_num': 3, + '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_7/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_7', + 'seed': 21503, + '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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:15:35 Worker 0 INFO task_sampler.py:317] 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'}} +[05/11 03:15:35 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 03:15:35 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 130459885242960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 130459885242960 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 130459885242960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 130459885242960 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 130459887984656 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130459887984656 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130459887991120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130459887991120 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130459887991120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130459887991120 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130459887984656 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130459887984656 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130459885274128 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130459885274128 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 130459885274192 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130459885274192 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 130459885274192 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 130459885274192 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 130459885274128 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 130459885274128 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 03:15:36 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 03:15:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:15:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) +[05/11 03:15:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:15:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:15:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053500m +[05/11 03:15:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:15:38 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 03:15:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:15:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13470108 1.04856485 0.0534998 ] yaw=-131.7deg +[05/11 03:15:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:15:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6996168 0.1538073 0.0534998] yaw=166.5deg +[05/11 03:15:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:15:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82678663 0.60492779 0.0534998 ] yaw=-174.0deg +[05/11 03:15:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:15:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:15:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=86.6ms, retries=239.1ms, total=325.7ms +[05/11 03:15:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.135, 1.049, 0.053) +[05/11 03:15:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg +[05/11 03:15:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m +[05/11 03:15:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:15:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:15:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:15:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:15:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:15:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 03:16:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.957s +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps +[05/11 03:16:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True +[05/11 03:16:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.357[m] 87.794[deg] +[05/11 03:16:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:16:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:16:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:16:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:18:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:18:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:18:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:18:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:18:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:18:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:18:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps +[05/11 03:18:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.594s, found feasible grasp: True +[05/11 03:18:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.275[deg] +[05/11 03:18:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:18:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:18:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:18:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:18:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:18:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:18:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:18:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:18:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:18:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:18:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:18:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m) +[05/11 03:18:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:18:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:18:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050539m +[05/11 03:18:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:18:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:18:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:18:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:18:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:18:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8335893 0.36343436 0.05053866] yaw=161.0deg +[05/11 03:18:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:18:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95153852 1.16145925 0.05053866] yaw=-127.3deg +[05/11 03:18:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:18:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:18:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97232874 0.1348168 0.05053866] yaw=157.2deg +[05/11 03:18:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:18:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:18:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.3ms, total=295.3ms +[05/11 03:18:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.834, 0.363, 0.051) +[05/11 03:18:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg +[05/11 03:18:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.877m +[05/11 03:18:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:18:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:18:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:18:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:18:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:18:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 03:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s +[05/11 03:18:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:18:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:18:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 03:18:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True +[05/11 03:18:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.451[m] 93.560[deg] +[05/11 03:18:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:19:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:19:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:21:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:21:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:21:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:21:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:21:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:21:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:21:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:21:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps +[05/11 03:21:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.420s, found feasible grasp: True +[05/11 03:21:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.057[deg] +[05/11 03:21:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:21:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:21:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:21:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:21:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:21:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:21:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:21:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:21:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:21:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:21:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:21:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m) +[05/11 03:21:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:21:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:21:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024985m +[05/11 03:21:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:21:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:21:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:21:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:21:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:21:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:21:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89222191 0.62188985 0.02498543] yaw=-163.5deg +[05/11 03:21:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:21:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81400858 1.01336107 0.02498543] yaw=-159.3deg +[05/11 03:21:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:21:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80787032 0.3774984 0.02498543] yaw=168.2deg +[05/11 03:21:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:21:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:21:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=303.1ms, total=303.1ms +[05/11 03:21:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.622, 0.025) +[05/11 03:21:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg +[05/11 03:21:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.822m +[05/11 03:21:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:21:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:21:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:21:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:21:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:21:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 03:21:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s +[05/11 03:21:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:21:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:21:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 03:21:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True +[05/11 03:21:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.426[m] 98.413[deg] +[05/11 03:21:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:21:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:21:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:22:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:22:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:23:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 03:24:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:24:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes +[05/11 03:24:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:24:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 03:24:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:24:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.57s (batch: 4.41s, save: 8.16s) +[05/11 03:24:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=4.78s: + episode_total: mean=174.80s, total=524.41s, count=3, min=163410.3ms, max=186060.3ms + sensor_polling: mean=473.7ms, total=387.48s, count=818, min=430.6ms, max=733.7ms + physics_step: mean=22.0ms, total=18.00s, count=818, min=16.4ms, max=42.9ms + save_trajectories: mean=8.16s, total=8.16s, count=1, min=8161.3ms, max=8161.3ms + task_sampling: mean=1.59s, total=4.78s, count=3, min=544.6ms, max=3668.3ms + save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4411.3ms, max=4411.3ms + scene_load: mean=3.03s, total=3.03s, count=1, min=3033.1ms, max=3033.1ms + scene_env_create: mean=1.81s, total=1.81s, count=1, min=1808.9ms, max=1808.9ms + task_specific_sample: mean=578.6ms, total=1.74s, count=3, min=541.9ms, max=631.7ms + scene_compile: mean=895.7ms, total=895.7ms, count=1, min=895.7ms, max=895.7ms + compile_mujoco: mean=620.4ms, total=620.4ms, count=1, min=620.4ms, max=620.4ms + scene_init: mean=261.6ms, total=261.6ms, count=1, min=261.6ms, max=261.6ms + compile_xml_load: mean=200.8ms, total=200.8ms, count=1, min=200.8ms, max=200.8ms + scene_asset_install: mean=66.4ms, total=66.4ms, count=1, min=66.4ms, max=66.4ms + compile_aux_objects: mean=57.6ms, total=57.6ms, count=1, min=57.6ms, max=57.6ms + compile_aux_policy_objects: mean=57.6ms, total=57.6ms, count=1, min=57.6ms, max=57.6ms + asset_install_grasps: mean=52.8ms, total=52.8ms, count=1, min=52.8ms, max=52.8ms + asset_install_objects: mean=10.9ms, total=10.9ms, count=1, min=10.9ms, max=10.9ms + compile_robot_add: mean=8.4ms, total=8.4ms, count=1, min=8.4ms, max=8.4ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.4ms, max=1.8ms + asset_install_scene: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=515.5us, total=1.5ms, count=3, min=0.4ms, max=0.7ms + policy_setup: mean=25.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 03:24:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:24:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:24:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:24:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:24:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:24:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:24:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:24:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:24:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:24:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:24:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m) +[05/11 03:24:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:24:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:24:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035357m +[05/11 03:24:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:24:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:24:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:24:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:24:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 97.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:24:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87738159 0.22759427 0.03535665] yaw=165.8deg +[05/11 03:24:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:24:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:24:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69108549 0.83610115 0.03535665] yaw=-155.5deg +[05/11 03:24:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:24:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85088 0.80224965 0.03535665] yaw=-170.3deg +[05/11 03:24:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:24:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:24:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.4ms, total=121.5ms +[05/11 03:24:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.877, 0.228, 0.035) +[05/11 03:24:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg +[05/11 03:24:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.863m +[05/11 03:24:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:24:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:24:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:24:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:24:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:24:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/11 03:24:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s +[05/11 03:24:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:24:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:24:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 03:24:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.580s, found feasible grasp: True +[05/11 03:24:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.400[m] 85.484[deg] +[05/11 03:24:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:25:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:25:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:25:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:26:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:26:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:26:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:26:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:26:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:26:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:26:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:26:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:26:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:26:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps +[05/11 03:26:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.552s, found feasible grasp: True +[05/11 03:26:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.839[deg] +[05/11 03:26:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:26:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:27:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:27:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:27:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:27:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:27:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 03:27:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:27:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:27:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 70 non-colliding grasps +[05/11 03:27:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 2.935s, found feasible grasp: True +[05/11 03:27:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 23 (originally 23): w/ 0.051[m] 8.487[deg] +[05/11 03:27:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:27:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:27:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:27:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/11 03:28:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:28:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes +[05/11 03:28:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:28:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:28:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:28:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.95s (batch: 4.25s, save: 8.70s) +[05/11 03:28:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.38s: + episode_total: mean=245.59s, total=245.59s, count=1, min=245587.9ms, max=245587.9ms + sensor_polling: mean=516.9ms, total=155.07s, count=300, min=443.9ms, max=1071.1ms + save_trajectories: mean=8.70s, total=8.70s, count=1, min=8703.9ms, max=8703.9ms + physics_step: mean=26.4ms, total=7.91s, count=300, min=14.7ms, max=135.4ms + save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4245.8ms, max=4245.8ms + task_sampling: mean=380.1ms, total=380.1ms, count=1, min=380.1ms, max=380.1ms + task_specific_sample: mean=376.3ms, total=376.3ms, count=1, min=376.3ms, max=376.3ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=418.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=24.5us, 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 +[05/11 03:28:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:28:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:28:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:28:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:28:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:28:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:28:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:28:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:28:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:28:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:28:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m) +[05/11 03:28:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:28:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:28:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051628m +[05/11 03:28:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:28:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:28:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:28:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86963976 0.03378644 0.05162842] yaw=154.0deg +[05/11 03:28:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:28:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93276929 0.08946945 0.05162842] yaw=163.9deg +[05/11 03:28:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:28:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:28:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:28:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:28:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87805368 0.41201042 0.05162842] yaw=173.9deg +[05/11 03:28:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:28:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:28:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.9ms +[05/11 03:28:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.034, 0.052) +[05/11 03:28:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.0 deg +[05/11 03:28:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.946m +[05/11 03:28:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:28:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:28:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:28:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:28:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:28:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3 +[05/11 03:28:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s +[05/11 03:28:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:28:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:28:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps +[05/11 03:28:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True +[05/11 03:28:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.538[m] 98.323[deg] +[05/11 03:28:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:28:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:28:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:29:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:29:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:31:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True +[05/11 03:31:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:31:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes +[05/11 03:31:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:31:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:31:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:31:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.09s (batch: 3.96s, save: 8.13s) +[05/11 03:32:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s: + episode_total: mean=207.36s, total=207.36s, count=1, min=207359.2ms, max=207359.2ms + sensor_polling: mean=537.5ms, total=161.26s, count=300, min=447.6ms, max=904.6ms + save_trajectories: mean=8.13s, total=8.13s, count=1, min=8133.6ms, max=8133.6ms + physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=79.8ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3959.9ms, max=3959.9ms + task_sampling: mean=467.0ms, total=467.0ms, count=1, min=467.0ms, max=467.0ms + task_specific_sample: mean=463.5ms, total=463.5ms, count=1, min=463.5ms, max=463.5ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=428.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.3us, 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 +[05/11 03:32:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:32:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:32:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:32:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:32:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:32:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:32:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:32:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:32:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:32:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:32:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) +[05/11 03:32:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:32:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:32:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094122m +[05/11 03:32:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:32:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:32:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:32:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14189016 0.99618334 0.09412222] yaw=-127.8deg +[05/11 03:32:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:32:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:32:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:32:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:32:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:32:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71397587 0.05984679 0.09412222] yaw=157.0deg +[05/11 03:32:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:32:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9053027 0.1794617 0.09412222] yaw=150.4deg +[05/11 03:32:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:32:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:32:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.5ms +[05/11 03:32:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.142, 0.996, 0.094) +[05/11 03:32:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.8 deg +[05/11 03:32:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.761m +[05/11 03:32:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:32:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:32:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:32:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:32:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:32:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 03:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s +[05/11 03:32:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:32:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:32:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 03:32:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.629s, found feasible grasp: True +[05/11 03:32:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.335[m] 89.528[deg] +[05/11 03:32:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:32:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:32:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:32:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:34:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:34:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:34:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:34:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:34:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:34:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:34:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:34:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:34:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:34:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:34:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:34:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:34:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps +[05/11 03:34:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.570s, found feasible grasp: True +[05/11 03:34:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.376[deg] +[05/11 03:34:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:34:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:34:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:34:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:34:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:34:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:34:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:34:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:34:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:34:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:34:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:34:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m) +[05/11 03:34:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:34:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:34:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099164m +[05/11 03:34:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:34:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:34:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:34:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91991972 1.15789928 0.0991641 ] yaw=-144.5deg +[05/11 03:34:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:34:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88506633 0.35232633 0.0991641 ] yaw=169.9deg +[05/11 03:34:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:34:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:34:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:34:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:34:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91905868 1.03149498 0.0991641 ] yaw=-141.3deg +[05/11 03:34:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:34:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:34:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=161.6ms, total=161.7ms +[05/11 03:34:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.920, 1.158, 0.099) +[05/11 03:34:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg +[05/11 03:34:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.034m +[05/11 03:34:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:34:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:34:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:34:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:34:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:34:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 03:34:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.061s +[05/11 03:34:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:34:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:34:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps +[05/11 03:34:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.535s, found feasible grasp: True +[05/11 03:34:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.582[m] 81.425[deg] +[05/11 03:34:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:34:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:34:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:35:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:36:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:36:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:37:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:37:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:37:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:37:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:37:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:37:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:37:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:37:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:37:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:37:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 76 non-colliding grasps +[05/11 03:37:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.714s, found feasible grasp: True +[05/11 03:37:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.242[deg] +[05/11 03:37:31 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:37:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:37:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:37:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:37:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:37:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:37:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:37:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:37:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:37:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:37:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:37:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m) +[05/11 03:37:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:37:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:37:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049989m +[05/11 03:37:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:37:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:37:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:37:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83850691 0.57718344 0.04998891] yaw=-163.5deg +[05/11 03:37:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:37:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06909299 0.91150532 0.04998891] yaw=-134.9deg +[05/11 03:37:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:37:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:37:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:37:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74998768 0.44702536 0.04998891] yaw=183.7deg +[05/11 03:37:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:37:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:37:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.5ms, total=193.6ms +[05/11 03:37:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.577, 0.050) +[05/11 03:37:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.5 deg +[05/11 03:37:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.869m +[05/11 03:37:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:37:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:37:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:37:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:37:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:37:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 03:37:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.059s +[05/11 03:37:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:37:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:37:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps +[05/11 03:37:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True +[05/11 03:37:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.433[m] 85.342[deg] +[05/11 03:37:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:38:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:40:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True +[05/11 03:40:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:40:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes +[05/11 03:40:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:41:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:41:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:41:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 16.25s (batch: 4.67s, save: 11.58s) +[05/11 03:41:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.44s: + episode_total: mean=178.93s, total=536.79s, count=3, min=158881.5ms, max=209471.5ms + sensor_polling: mean=510.9ms, total=428.15s, count=838, min=432.0ms, max=1051.1ms + physics_step: mean=24.7ms, total=20.70s, count=838, min=15.2ms, max=104.4ms + save_trajectories: mean=11.58s, total=11.58s, count=1, min=11576.2ms, max=11576.2ms + save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.1ms, max=4670.1ms + task_sampling: mean=479.4ms, total=1.44s, count=3, min=445.9ms, max=523.8ms + task_specific_sample: mean=475.1ms, total=1.43s, count=3, min=440.7ms, max=519.7ms + scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.2ms, max=2.8ms + mj_forward_sync: mean=425.0us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=22.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms +[05/11 03:41:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:41:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:41:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:41:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:41:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:41:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:41:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:41:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:41:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:41:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:41:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) +[05/11 03:41:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:41:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:41:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063142m +[05/11 03:41:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:41:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:41:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:41:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:41:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:41:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:41:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.66250436 0.40592971 0.06314217] yaw=176.0deg +[05/11 03:41:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:41:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86606403 0.20867838 0.06314217] yaw=160.2deg +[05/11 03:41:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:41:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73965615 0.96401875 0.06314217] yaw=-143.1deg +[05/11 03:41:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:41:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:41:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=321.6ms, total=321.7ms +[05/11 03:41:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.663, 0.406, 0.063) +[05/11 03:41:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg +[05/11 03:41:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.043m +[05/11 03:41:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:41:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:41:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:41:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:41:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:41:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 03:41:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s +[05/11 03:41:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:41:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:41:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps +[05/11 03:41:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True +[05/11 03:41:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.616[m] 89.009[deg] +[05/11 03:41:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:42:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:42:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:42:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:43:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True +[05/11 03:44:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:44:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes +[05/11 03:44:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:44:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:44:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:44:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 14.26s (batch: 5.67s, save: 8.60s) +[05/11 03:44:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.71s: + episode_total: mean=206.33s, total=206.33s, count=1, min=206328.9ms, max=206328.9ms + sensor_polling: mean=523.5ms, total=157.06s, count=300, min=438.9ms, max=1091.5ms + save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.5ms, max=8598.5ms + physics_step: mean=24.4ms, total=7.33s, count=300, min=16.2ms, max=113.9ms + save_batch_prep: mean=5.67s, total=5.67s, count=1, min=5666.1ms, max=5666.1ms + task_sampling: mean=710.4ms, total=710.4ms, count=1, min=710.4ms, max=710.4ms + task_specific_sample: mean=705.9ms, total=705.9ms, count=1, min=705.9ms, max=705.9ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=468.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:44:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:44:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:44:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:44:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:44:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:44:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:44:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:44:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) +[05/11 03:44:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:44:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:44:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015278m +[05/11 03:44:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:44:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:44:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:44:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73879682 0.80474414 0.01527787] yaw=-167.0deg +[05/11 03:44:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:44:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72464145 -0.00520542 0.01527787] yaw=151.7deg +[05/11 03:44:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:44:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:44:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:44:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80924422 0.13954978 0.01527787] yaw=163.2deg +[05/11 03:44:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:44:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:44:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.6ms, total=169.6ms +[05/11 03:44:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.805, 0.015) +[05/11 03:44:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.0 deg +[05/11 03:44:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.016m +[05/11 03:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:44:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:44:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/11 03:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s +[05/11 03:44:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:44:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:44:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps +[05/11 03:44:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.541s, found feasible grasp: True +[05/11 03:44:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.550[m] 84.763[deg] +[05/11 03:44:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:44:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:44:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:45:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:45:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:47:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True +[05/11 03:47:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:47:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 3/4: 1 episodes +[05/11 03:47:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:47:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:47:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:47:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.39s (batch: 4.06s, save: 8.33s) +[05/11 03:47:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.47s: + episode_total: mean=206.86s, total=206.86s, count=1, min=206864.9ms, max=206864.9ms + sensor_polling: mean=521.4ms, total=156.41s, count=300, min=439.3ms, max=855.5ms + save_trajectories: mean=8.33s, total=8.33s, count=1, min=8332.1ms, max=8332.1ms + physics_step: mean=25.4ms, total=7.62s, count=300, min=15.8ms, max=102.0ms + save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4060.7ms, max=4060.7ms + task_sampling: mean=473.4ms, total=473.4ms, count=1, min=473.4ms, max=473.4ms + task_specific_sample: mean=468.2ms, total=468.2ms, count=1, min=468.2ms, max=468.2ms + scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=610.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.4us, 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 +[05/11 03:48:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:48:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:48:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:48:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:48:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:48:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:48:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:48:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:48:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:48:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:48:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m) +[05/11 03:48:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:48:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:48:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035730m +[05/11 03:48:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:48:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:48:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:48:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00583524 0.99768106 0.0357297 ] yaw=-141.6deg +[05/11 03:48:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:48:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:48:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:48:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92963344 1.23738453 0.0357297 ] yaw=-130.8deg +[05/11 03:48:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:48:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:48:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89933183 1.11933397 0.0357297 ] yaw=-143.7deg +[05/11 03:48:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:48:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:48:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.8ms, total=145.8ms +[05/11 03:48:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.006, 0.998, 0.036) +[05/11 03:48:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg +[05/11 03:48:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.867m +[05/11 03:48:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:48:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:48:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:48:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:48:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:48:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 03:48:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s +[05/11 03:48:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:48:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:48:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 03:48:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.609s, found feasible grasp: True +[05/11 03:48:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.450[m] 87.800[deg] +[05/11 03:48:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:48:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:48:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:48:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:48:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:49:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift diff --git a/fridge_7/chunk_015/shard_4_of_4.log b/fridge_7/chunk_015/shard_4_of_4.log new file mode 100644 index 0000000000000000000000000000000000000000..d6238013322f2bdb06a4f8044dab17015d27a7b7 --- /dev/null +++ b/fridge_7/chunk_015/shard_4_of_4.log @@ -0,0 +1,1150 @@ +========================================== +Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_015 + shard=4/4 seed=21504 samples=3 + CUDA_VISIBLE_DEVICES=3 + scene=ithor_minimal_fridge_7 radius=[0.7,1.1] theta=[-0.5,0.9] +========================================== +[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /svl/u/ravenh/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg) +INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height) +INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing. +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:15:35 INFO pipeline.py:640] WandB logging disabled (environment variables not set) +[05/11 03:15:35 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes +[05/11 03:15:35 INFO pipeline.py:1366] Evaluation configuration: +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings: + PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple]) + PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_015'), input_type=PosixPath]) + return self.__pydantic_serializer__.to_python( +[05/11 03:15:35 INFO pipeline.py:1367] {'batch_num': 4, + '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_7/sim_chunks/chunk_015'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + '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': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + '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_7', + 'seed': 21504, + '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': (0.0, 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': (0.75, 1.1), + 'base_pose_sampling_theta_range_rad': (-0.5, 0.9), + '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': 0.2, + 'robot_safety_radius': 0.15, + 'samples_per_house': 3, + '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': 4, + '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'} +INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:15:35 Worker 0 INFO task_sampler.py:317] 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'}} +[05/11 03:15:35 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler +[05/11 03:15:35 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1) +DEBUG:filelock:Attempting to acquire lock 133613368297552 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 133613368297552 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7 +DEBUG:filelock:Attempting to release lock 133613368297552 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Lock 133613368297552 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock +DEBUG:filelock:Attempting to acquire lock 133613371323344 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 133613371323344 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 133613371312080 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 133613371312080 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 133613371312080 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 133613371312080 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 133613371323344 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 133613371323344 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 133613368344912 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 133613368344912 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Attempting to acquire lock 133613368346768 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 133613368346768 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218 +DEBUG:filelock:Attempting to release lock 133613368346768 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Lock 133613368346768 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock +DEBUG:filelock:Attempting to release lock 133613368344912 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +DEBUG:filelock:Lock 133613368344912 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock +[05/11 03:15:35 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so +[05/11 03:15:38 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None... +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 % +[05/11 03:15:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:15:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:15:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) +[05/11 03:15:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:15:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:15:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053116m +[05/11 03:15:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:15:38 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) +[05/11 03:15:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73532587 0.48650399 0.05311641] yaw=-179.4deg +[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92200682 0.36569954 0.05311641] yaw=161.3deg +[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96183297 1.07207804 0.05311641] yaw=-147.9deg +[05/11 03:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:15:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:15:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=12.7ms, retries=155.6ms, total=168.3ms +[05/11 03:15:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.487, 0.053) +[05/11 03:15:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.4 deg +[05/11 03:15:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.967m +[05/11 03:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:15:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:15:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3 +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +INFO:root:Using JAX default device: cuda:0. +DEBUG:root:Picking default implementation: JAX. +[05/11 03:16:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.358s +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True +[05/11 03:16:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.532[m] 89.028[deg] +[05/11 03:16:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:17:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:18:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:18:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:18:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:18:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:18:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:18:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:18:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:18:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps +[05/11 03:18:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.443s, found feasible grasp: True +[05/11 03:18:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.407[deg] +[05/11 03:18:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:18:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:18:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:18:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True +/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock. + self.pid = _fork_exec( +[05/11 03:19:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:19:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes +[05/11 03:19:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:19:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +DEBUG:h5py._conv:Creating converter from 5 to 3 +[05/11 03:19:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:19:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.00s (batch: 4.39s, save: 8.61s) +[05/11 03:19:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.47s: + episode_total: mean=230.23s, total=230.23s, count=1, min=230229.6ms, max=230229.6ms + sensor_polling: mean=485.1ms, total=145.53s, count=300, min=449.6ms, max=665.6ms + save_trajectories: mean=8.61s, total=8.61s, count=1, min=8609.7ms, max=8609.7ms + physics_step: mean=21.6ms, total=6.47s, count=300, min=16.0ms, max=33.2ms + save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4387.8ms, max=4387.8ms + task_sampling: mean=3.47s, total=3.47s, count=1, min=3468.6ms, max=3468.6ms + scene_load: mean=2.97s, total=2.97s, count=1, min=2971.6ms, max=2971.6ms + scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.9ms, max=2044.9ms + scene_compile: mean=825.2ms, total=825.2ms, count=1, min=825.2ms, max=825.2ms + compile_mujoco: mean=628.9ms, total=628.9ms, count=1, min=628.9ms, max=628.9ms + task_specific_sample: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms + compile_xml_load: mean=132.0ms, total=132.0ms, count=1, min=132.0ms, max=132.0ms + scene_init: mean=62.1ms, total=62.1ms, count=1, min=62.1ms, max=62.1ms + compile_aux_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + compile_aux_policy_objects: mean=49.1ms, total=49.1ms, count=1, min=49.1ms, max=49.1ms + scene_asset_install: mean=39.1ms, total=39.1ms, count=1, min=39.1ms, max=39.1ms + asset_install_grasps: mean=28.9ms, total=28.9ms, count=1, min=28.9ms, max=28.9ms + asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms + compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms + asset_install_scene: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=398.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=56.4us, total=0.1ms, count=1, min=0.1ms, max=0.1ms +[05/11 03:19:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:19:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:19:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:19:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:19:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:19:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:19:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:19:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m) +[05/11 03:19:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:19:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:19:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055817m +[05/11 03:19:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:19:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:19:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69061881 0.88670388 0.05581727] yaw=-148.6deg +[05/11 03:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93840625 0.58376849 0.05581727] yaw=-174.4deg +[05/11 03:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:19:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97621567 0.81677344 0.05581727] yaw=-163.4deg +[05/11 03:19:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:19:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:19:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.2ms +[05/11 03:19:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.887, 0.056) +[05/11 03:19:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.6 deg +[05/11 03:19:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.090m +[05/11 03:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:19:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:19:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:19:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3 +[05/11 03:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s +[05/11 03:19:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:19:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:19:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps +[05/11 03:19:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.799s, found feasible grasp: True +[05/11 03:19:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.691[m] 88.232[deg] +[05/11 03:19:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:20:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:22:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True +[05/11 03:22:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:22:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes +[05/11 03:22:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:22:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:22:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:22:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 12.74s (batch: 4.30s, save: 8.44s) +[05/11 03:22:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.40s: + episode_total: mean=189.02s, total=189.02s, count=1, min=189023.1ms, max=189023.1ms + sensor_polling: mean=476.1ms, total=142.83s, count=300, min=446.5ms, max=671.7ms + save_trajectories: mean=8.44s, total=8.44s, count=1, min=8437.3ms, max=8437.3ms + physics_step: mean=22.3ms, total=6.69s, count=300, min=16.8ms, max=41.6ms + save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4300.1ms, max=4300.1ms + task_sampling: mean=399.2ms, total=399.2ms, count=1, min=399.2ms, max=399.2ms + task_specific_sample: mean=395.2ms, total=395.2ms, count=1, min=395.2ms, max=395.2ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=433.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.6us, 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 +[05/11 03:22:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:22:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:22:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:22:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:22:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:22:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:22:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:22:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:22:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:22:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:22:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) +[05/11 03:22:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:22:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:22:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024151m +[05/11 03:22:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:22:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:22:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:22:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:22:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78496458 0.15211121 0.02415136] yaw=165.6deg +[05/11 03:22:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:22:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74628785 0.34163596 0.02415136] yaw=163.1deg +[05/11 03:22:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:22:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96037957 0.81219704 0.02415136] yaw=-145.6deg +[05/11 03:22:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:22:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:22:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.3ms, total=106.3ms +[05/11 03:22:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.152, 0.024) +[05/11 03:22:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.6 deg +[05/11 03:22:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.975m +[05/11 03:22:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:22:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:22:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:22:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:22:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:22:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3 +[05/11 03:22:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s +[05/11 03:22:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:22:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:22:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 03:22:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.578s, found feasible grasp: True +[05/11 03:22:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.551[m] 96.146[deg] +[05/11 03:22:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:22:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:22:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:23:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:23:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:25:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:25:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:25:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:25:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:25:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True +[05/11 03:25:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:25:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes +[05/11 03:25:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:25:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:25:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:25:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 14.97s (batch: 4.90s, save: 10.07s) +[05/11 03:25:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.42s: + episode_total: mean=196.72s, total=196.72s, count=1, min=196724.4ms, max=196724.4ms + sensor_polling: mean=472.3ms, total=141.70s, count=300, min=440.6ms, max=671.6ms + save_trajectories: mean=10.07s, total=10.07s, count=1, min=10067.0ms, max=10067.0ms + physics_step: mean=22.9ms, total=6.87s, count=300, min=16.2ms, max=34.4ms + save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4902.2ms, max=4902.2ms + task_sampling: mean=422.1ms, total=422.1ms, count=1, min=422.1ms, max=422.1ms + task_specific_sample: mean=418.0ms, total=418.0ms, count=1, min=418.0ms, max=418.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=465.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:25:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:25:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:25:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:25:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:25:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:25:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:25:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:25:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:25:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:25:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:25:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) +[05/11 03:25:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:25:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:25:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003463m +[05/11 03:25:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:25:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:25:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:25:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:25:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:25:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 156.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:25:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80292475 0.1407497 0.00346308] yaw=163.7deg +[05/11 03:25:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:25:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:25:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9596315 0.67896932 0.00346308] yaw=-168.0deg +[05/11 03:25:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:25:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76549647 0.63406985 0.00346308] yaw=-179.1deg +[05/11 03:25:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:25:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:25:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.2ms, total=165.3ms +[05/11 03:25:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.803, 0.141, 0.003) +[05/11 03:25:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.7 deg +[05/11 03:25:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.962m +[05/11 03:25:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:25:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:25:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:25:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:25:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:25:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3 +[05/11 03:25:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s +[05/11 03:25:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:25:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:25:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps +[05/11 03:25:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.665s, found feasible grasp: True +[05/11 03:25:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.553[m] 95.855[deg] +[05/11 03:25:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:25:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:25:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:27:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:27:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:28:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:28:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:28:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True +[05/11 03:29:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:29:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes +[05/11 03:29:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:29:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:29:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:29:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 16.31s (batch: 6.59s, save: 9.71s) +[05/11 03:29:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.52s: + episode_total: mean=224.60s, total=224.60s, count=1, min=224600.9ms, max=224600.9ms + sensor_polling: mean=525.0ms, total=157.51s, count=300, min=448.4ms, max=900.2ms + save_trajectories: mean=9.71s, total=9.71s, count=1, min=9713.8ms, max=9713.8ms + physics_step: mean=26.6ms, total=7.97s, count=300, min=18.4ms, max=76.5ms + save_batch_prep: mean=6.59s, total=6.59s, count=1, min=6593.9ms, max=6593.9ms + task_sampling: mean=515.9ms, total=515.9ms, count=1, min=515.9ms, max=515.9ms + task_specific_sample: mean=509.4ms, total=509.4ms, count=1, min=509.4ms, max=509.4ms + scene_randomize: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms + mj_forward_sync: mean=885.5us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + policy_setup: mean=43.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:29:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:29:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:29:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:29:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:29:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:29:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:29:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:29:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:29:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:29:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:29:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) +[05/11 03:29:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:29:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:29:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048493m +[05/11 03:29:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:29:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:29:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:29:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:29:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:29:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:29:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:29:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:29:43 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.3ms, total=166.3ms +[05/11 03:29:43 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root' +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house + task = runner_class.sample_task_from_spec( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec + return task_sampler.sample_task(house_index=house_id) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task + task = self._sample_task(self.env) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task + self._sample_and_place_robot(env) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot + raise ValueError(f"Failed to place robot near object: {pickup_obj.name}") +ValueError: Failed to place robot near object: Fridge_7_upside_down_root +[05/11 03:29:43 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root +[05/11 03:29:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:29:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:29:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:29:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:29:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:29:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:29:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:29:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:29:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:29:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:29:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m) +[05/11 03:29:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:29:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:29:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053273m +[05/11 03:29:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:29:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:29:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:29:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67534809 0.86990656 0.05327316] yaw=-148.2deg +[05/11 03:29:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:29:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:29:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:29:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:29:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.6° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:29:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82538648 0.69279727 0.05327316] yaw=-168.7deg +[05/11 03:29:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:29:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93149158 0.25729035 0.05327316] yaw=159.2deg +[05/11 03:29:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:29:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:29:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=249.8ms, total=249.8ms +[05/11 03:29:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.675, 0.870, 0.053) +[05/11 03:29:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg +[05/11 03:29:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.098m +[05/11 03:29:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:29:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:29:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:29:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:29:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:29:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3 +[05/11 03:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s +[05/11 03:29:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:29:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:29:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps +[05/11 03:29:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.687s, found feasible grasp: True +[05/11 03:29:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.635[m] 77.355[deg] +[05/11 03:29:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:29:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:29:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:30:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:31:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:31:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:32:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True +[05/11 03:32:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:32:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes +[05/11 03:32:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:33:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:33:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:33:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.96s (batch: 4.79s, save: 9.16s) +[05/11 03:33:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.57s: + episode_total: mean=103.09s, total=206.17s, count=2, min=177.2ms, max=205997.1ms + sensor_polling: mean=504.8ms, total=151.44s, count=300, min=430.7ms, max=783.7ms + save_trajectories: mean=9.16s, total=9.16s, count=1, min=9164.9ms, max=9164.9ms + physics_step: mean=24.3ms, total=7.30s, count=300, min=18.2ms, max=66.0ms + save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4791.8ms, max=4791.8ms + task_specific_sample: mean=368.0ms, total=736.0ms, count=2, min=171.5ms, max=564.6ms + task_sampling: mean=567.5ms, total=567.5ms, count=1, min=567.5ms, max=567.5ms + task_sampling_failed: mean=177.2ms, total=177.2ms, count=1, min=177.2ms, max=177.2ms + scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms + mj_forward_sync: mean=417.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms +[05/11 03:33:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:33:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:33:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:33:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:33:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:33:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:33:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:33:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:33:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:33:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:33:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m) +[05/11 03:33:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:33:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:33:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003204m +[05/11 03:33:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:33:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:33:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:33:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.19842868 1.10643067 0.00320396] yaw=-136.7deg +[05/11 03:33:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:33:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06861187 1.22752611 0.00320396] yaw=-138.3deg +[05/11 03:33:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:33:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90936937 0.16232709 0.00320396] yaw=157.0deg +[05/11 03:33:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:33:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:33:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=266.0ms, total=266.0ms +[05/11 03:33:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.198, 1.106, 0.003) +[05/11 03:33:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.7 deg +[05/11 03:33:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m +[05/11 03:33:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:33:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:33:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:33:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:33:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:33:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3 +[05/11 03:33:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s +[05/11 03:33:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:33:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:33:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps +[05/11 03:33:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.311s, found feasible grasp: True +[05/11 03:33:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.384[m] 84.538[deg] +[05/11 03:33:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:33:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:34:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:34:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:35:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:35:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:35:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:35:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:35:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:35:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:35:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:35:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:35:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps +[05/11 03:35:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.791s, found feasible grasp: True +[05/11 03:35:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.298[deg] +[05/11 03:35:39 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose +Traceback (most recent call last): + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house + success = runner_class.run_single_rollout( + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout + action_cmd = policy.get_action(observation) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action + action = act_prim.get_current_action() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action + return self.tcp_to_jp_fn(mg_id, curr_target_pose) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn + return self._handle_failure() + ^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure + self.reset(reset_retries=False) + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset + self.action_primitives = self._compute_trajectory() + ^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory + target_poses = self._compute_target_poses() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses + raise ValueError("IK failed for pregrasp pose") +ValueError: IK failed for pregrasp pose +[05/11 03:35:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:35:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:35:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:35:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:35:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:35:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:35:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:35:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:35:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:35:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:35:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m) +[05/11 03:35:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:35:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:35:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092231m +[05/11 03:35:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:35:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:35:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:35:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:35:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77187383 0.95875467 0.09223106] yaw=-144.2deg +[05/11 03:35:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:35:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11252544 1.03143517 0.09223106] yaw=-126.9deg +[05/11 03:35:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:35:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:35:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86683819 0.826812 0.09223106] yaw=-146.3deg +[05/11 03:35:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:35:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:35:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.3ms, total=127.4ms +[05/11 03:35:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.959, 0.092) +[05/11 03:35:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.2 deg +[05/11 03:35:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.045m +[05/11 03:35:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:35:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:35:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:35:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:35:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:35:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3 +[05/11 03:35:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s +[05/11 03:35:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:35:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:35:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps +[05/11 03:35:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.876s, found feasible grasp: True +[05/11 03:35:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.625[m] 80.584[deg] +[05/11 03:35:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:35:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:35:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:36:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:37:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:38:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True +[05/11 03:38:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:38:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes +[05/11 03:38:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:39:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:39:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:39:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.64s (batch: 4.52s, save: 9.12s) +[05/11 03:39:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.06s: + episode_total: mean=177.81s, total=355.61s, count=2, min=146976.7ms, max=208635.7ms + sensor_polling: mean=513.8ms, total=274.88s, count=535, min=424.5ms, max=835.2ms + physics_step: mean=25.8ms, total=13.80s, count=535, min=16.2ms, max=94.8ms + save_trajectories: mean=9.12s, total=9.12s, count=1, min=9124.8ms, max=9124.8ms + save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4518.6ms, max=4518.6ms + task_sampling: mean=527.9ms, total=1.06s, count=2, min=405.0ms, max=650.8ms + task_specific_sample: mean=523.0ms, total=1.05s, count=2, min=401.4ms, max=644.6ms + scene_randomize: mean=3.0ms, total=6.1ms, count=2, min=1.5ms, max=4.6ms + mj_forward_sync: mean=507.4us, total=1.0ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=21.6us, 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 +[05/11 03:39:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:39:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:39:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:39:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:39:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:39:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:39:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:39:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:39:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:39:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:39:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) +[05/11 03:39:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:39:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:39:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006568m +[05/11 03:39:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:39:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:39:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:39:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.5° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:39:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:39:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01112875 0.16978716 0.00656844] yaw=144.3deg +[05/11 03:39:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:39:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76876602 0.06255817 0.00656844] yaw=146.7deg +[05/11 03:39:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:39:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68441461 0.34307525 0.00656844] yaw=179.8deg +[05/11 03:39:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3 +[05/11 03:39:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:39:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.8ms +[05/11 03:39:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.011, 0.170, 0.007) +[05/11 03:39:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 144.3 deg +[05/11 03:39:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.758m +[05/11 03:39:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:39:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:39:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:39:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:39:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:39:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3 +[05/11 03:39:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.164s +[05/11 03:39:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:39:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:39:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.134s, found 88 non-colliding grasps +[05/11 03:39:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.411s, found feasible grasp: True +[05/11 03:39:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.306[m] 88.131[deg] +[05/11 03:39:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:39:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:39:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:39:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:40:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:40:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:41:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:41:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:41:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:41:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:41:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:41:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:41:11 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:41:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:41:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:41:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps +[05/11 03:41:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True +[05/11 03:41:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.165[deg] +[05/11 03:41:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:41:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:41:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:41:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:41:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:41:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:41:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:41:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:41:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:41:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:41:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:41:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:41:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:41:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3 +[05/11 03:41:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:41:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:41:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps +[05/11 03:41:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.528s, found feasible grasp: True +[05/11 03:41:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.885[deg] +[05/11 03:41:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:41:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:41:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:42:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:42:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:42:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:42:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:42:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:42:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:42:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:42:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:42:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:42:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:42:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:42:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:42:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:42:49 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:42:49 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3 +[05/11 03:42:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:42:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:42:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 68 non-colliding grasps +[05/11 03:42:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.874s, found feasible grasp: True +[05/11 03:42:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.036[m] 12.436[deg] +[05/11 03:42:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:42:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True +[05/11 03:43:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:43:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes +[05/11 03:43:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:43:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:43:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:43:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 14.47s (batch: 4.78s, save: 9.69s) +[05/11 03:43:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.54s: + episode_total: mean=271.19s, total=271.19s, count=1, min=271187.1ms, max=271187.1ms + sensor_polling: mean=530.8ms, total=159.24s, count=300, min=457.5ms, max=1014.5ms + save_trajectories: mean=9.69s, total=9.69s, count=1, min=9691.9ms, max=9691.9ms + physics_step: mean=24.8ms, total=7.45s, count=300, min=15.1ms, max=89.0ms + save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4778.3ms, max=4778.3ms + task_sampling: mean=538.0ms, total=538.0ms, count=1, min=538.0ms, max=538.0ms + task_specific_sample: mean=526.3ms, total=526.3ms, count=1, min=526.3ms, max=526.3ms + scene_randomize: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms + mj_forward_sync: mean=658.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=31.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms +[05/11 03:43:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:43:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:43:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:43:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:43:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:43:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:43:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:43:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:43:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:43:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:43:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m) +[05/11 03:43:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:43:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:43:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023644m +[05/11 03:43:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:43:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:43:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:43:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84486815 0.24949363 0.02364394] yaw=169.9deg +[05/11 03:43:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:43:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86720101 0.94646827 0.02364394] yaw=-160.3deg +[05/11 03:43:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:43:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:43:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=694.4ms, total=694.4ms +[05/11 03:43:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.845, 0.249, 0.024) +[05/11 03:43:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.9 deg +[05/11 03:43:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.888m +[05/11 03:43:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:43:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:43:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:43:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:43:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:43:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3 +[05/11 03:43:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.112s +[05/11 03:43:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:43:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:43:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps +[05/11 03:43:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True +[05/11 03:43:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.437[m] 91.075[deg] +[05/11 03:43:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:44:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:44:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:46:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:46:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:46:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:46:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 +[05/11 03:46:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7 +[05/11 03:46:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8 +[05/11 03:46:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry. +[05/11 03:46:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3 +[05/11 03:46:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:46:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:46:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps +[05/11 03:46:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.454s, found feasible grasp: True +[05/11 03:46:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.980[deg] +[05/11 03:46:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:46:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:46:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:46:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:46:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:46:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:46:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True +[05/11 03:47:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:47:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_015 batch 4/4: 1 episodes +[05/11 03:47:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps +[05/11 03:47:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended +[05/11 03:47:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_015 +[05/11 03:47:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_015 in 13.51s (batch: 4.44s, save: 9.07s) +[05/11 03:47:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.05s: + episode_total: mean=228.40s, total=228.40s, count=1, min=228397.6ms, max=228397.6ms + sensor_polling: mean=523.6ms, total=157.07s, count=300, min=445.5ms, max=1099.1ms + save_trajectories: mean=9.07s, total=9.07s, count=1, min=9069.5ms, max=9069.5ms + physics_step: mean=26.1ms, total=7.83s, count=300, min=15.2ms, max=110.0ms + save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4440.5ms, max=4440.5ms + task_sampling: mean=1.05s, total=1.05s, count=1, min=1050.8ms, max=1050.8ms + task_specific_sample: mean=1.02s, total=1.02s, count=1, min=1018.1ms, max=1018.1ms + scene_randomize: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms + mj_forward_sync: mean=783.5us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=20.5us, 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 +[05/11 03:47:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1 +[05/11 03:47:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed. + +[05/11 03:47:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling +[05/11 03:47:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:47:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:47:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:47:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:47:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring. +[05/11 03:47:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] +[05/11 03:47:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 +[05/11 03:47:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) +[05/11 03:47:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) +[05/11 03:47:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346) +[05/11 03:47:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080466m +[05/11 03:47:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m +[05/11 03:47:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map +[05/11 03:47:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius +[05/11 03:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:47:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.3° outside wedge [-28.6°, 51.6°], rejecting... +[05/11 03:47:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75914341 0.22410733 0.0804664 ] yaw=158.5deg +[05/11 03:47:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1 +[05/11 03:47:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87657717 0.10703589 0.0804664 ] yaw=145.6deg +[05/11 03:47:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2 +[05/11 03:47:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} +[05/11 03:47:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=169.4ms, total=169.4ms +[05/11 03:47:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.224, 0.080) +[05/11 03:47:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg +[05/11 03:47:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.978m +[05/11 03:47:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/11 03:47:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) +[05/11 03:47:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/11 03:47:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/11 03:47:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge' +[05/11 03:47:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3 +[05/11 03:47:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s +[05/11 03:47:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz +[05/11 03:47:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions) +[05/11 03:47:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps +[05/11 03:47:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.753s, found feasible grasp: True +[05/11 03:47:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.561[m] 90.432[deg] +[05/11 03:47:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps + +[05/11 03:47:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper... +[05/11 03:47:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp +[05/11 03:48:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp +[05/11 03:48:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper... +[05/11 03:48:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift +[05/11 03:50:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1 +[05/11 03:50:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2 +[05/11 03:50:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3 +[05/11 03:50:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4 +[05/11 03:50:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5 +[05/11 03:50:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6 diff --git a/fridge_7/chunk_015/trajectories_batch_1_of_4_cam_rand.h5 b/fridge_7/chunk_015/trajectories_batch_1_of_4_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..79243928aeaba4151c70a9c42a205abe6b1bf41d --- /dev/null +++ b/fridge_7/chunk_015/trajectories_batch_1_of_4_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72a175178cdabb90288feac7711fd0dc907d2872e18099b20ae0761097370710 +size 630897665 diff --git 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