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b/fridge_m_2house/sim/house_2/chunk_100/experiment_config_20260518_154311.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ad98be3ca65caa38a9060f72b4b583813d9863801ad649d8ef6f94ba9c3b927 +size 8153 diff --git a/fridge_m_2house/sim/house_2/chunk_100/running_log.log b/fridge_m_2house/sim/house_2/chunk_100/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..62bc272fbb92dc0e8a906c6c4dda516714f7391a --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_100/running_log.log @@ -0,0 +1,1845 @@ +05/18 15:43:11 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 15:43:11 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 15:43:11 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:43:11 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/fridge_m_2house/sim_chunks/chunk_100'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40100, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.1, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.85, 1.3), + 'base_pose_sampling_theta_range_rad': (-0.5, 1.0), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [2], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 15:43:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 15:43:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:43:11 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1) [pipeline.py: 464] +05/18 15:43:12 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:43:15 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/FloorPlan2_physics.xml [task_sampler.py: 797] +05/18 15:43:15 INFO: [Worker 0] Setting up scene for house 2, task None... [pick_task_sampler.py: 197] +05/18 15:43:15 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:43:15 INFO: [Worker 0] Resolving Fridge_7_upside_down_root grasp uid Fridge_m_2 -> Fridge_m via name_map [pick_task_sampler.py: 917] +05/18 15:43:15 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:43:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:15 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:43:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:43:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.044m, effective arm-mount z=0.816m (base_body_z=-0.044m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044263m [env.py: 870] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:15 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 152.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.00265607 -1.21647152 -0.04426305] yaw=146.7deg [env.py: 1019] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18218051 -1.0524454 -0.04426305] yaw=165.3deg [env.py: 1019] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=27.1ms, retries=199.8ms, total=226.9ms [env.py: 1075] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.003, -1.216, -0.044) [env.py: 1079] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.7 deg [env.py: 1082] +05/18 15:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.113m [env.py: 1086] +05/18 15:43:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:15 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:47 INFO: [Worker 0] Warmed up parallel IK solver in 31.642s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:44:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 15.319s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:44:02 INFO: [Worker 0] Feasible grasp found 13 (originally 13): w/ 0.799[m] 111.965[deg] [grasp_sample.py: 596] +05/18 15:44:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:44:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:44:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:45:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:45:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:46:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:46:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:46:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:46:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:46:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:46:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:46:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 15:46:07 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.255s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:46:07 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.150[m] 1.813[deg] [grasp_sample.py: 596] +05/18 15:46:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:46:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:46:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:46:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:39 INFO: [Worker 0] Worker 0 house 2 episode 0 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:46:39 INFO: [Worker 0] [PROFILE] Episode 0 house 2 success=False episode_total=4.15s: + episode_total: mean=208.46s, total=208.46s, count=1, min=208457.6ms, max=208457.6ms + sensor_polling: mean=446.2ms, total=133.87s, count=300, min=424.8ms, max=594.8ms + physics_step: mean=27.0ms, total=8.09s, count=300, min=21.2ms, max=39.2ms + task_sampling: mean=4.15s, total=4.15s, count=1, min=4154.8ms, max=4154.8ms + scene_load: mean=3.61s, total=3.61s, count=1, min=3612.0ms, max=3612.0ms + scene_env_create: mean=1.85s, total=1.85s, count=1, min=1852.0ms, max=1852.0ms + scene_compile: mean=1.59s, total=1.59s, count=1, min=1594.4ms, max=1594.4ms + compile_mujoco: mean=1.00s, total=1.00s, count=1, min=1004.8ms, max=1004.8ms + task_specific_sample: mean=539.1ms, total=539.1ms, count=1, min=539.1ms, max=539.1ms + compile_xml_load: mean=483.4ms, total=483.4ms, count=1, min=483.4ms, max=483.4ms + scene_init: mean=96.7ms, total=96.7ms, count=1, min=96.7ms, max=96.7ms + compile_aux_objects: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms + compile_aux_policy_objects: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms + scene_asset_install: mean=68.5ms, total=68.5ms, count=1, min=68.5ms, max=68.5ms + asset_install_grasps: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms + compile_robot_add: mean=26.0ms, total=26.0ms, count=1, min=26.0ms, max=26.0ms + asset_install_objects: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=551.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=40.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:46:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:46:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:46:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:46:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:46:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:46:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.072m, effective arm-mount z=0.788m (base_body_z=-0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.072335m [env.py: 870] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:46:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.260238 -0.09433869 -0.07233539] yaw=-124.4deg [env.py: 1019] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:46:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.3ms, total=205.3ms [env.py: 1075] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.260, -0.094, -0.072) [env.py: 1079] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.4 deg [env.py: 1082] +05/18 15:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.157m [env.py: 1086] +05/18 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:46:42 INFO: [Worker 0] Worker 0 house 2 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:46:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 15:46:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:46:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:46:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.374s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:46:47 ERROR: [Worker 0] Worker 0 house 2 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:46:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:46:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:46:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:46:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:49 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:46:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:46:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:46:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061995m [env.py: 870] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:46:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08991376 -0.96784897 0.06199509] yaw=196.3deg [env.py: 1019] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 127.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:46:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=192.5ms, total=192.5ms [env.py: 1075] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.090, -0.968, 0.062) [env.py: 1079] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 196.3 deg [env.py: 1082] +05/18 15:46:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.165m [env.py: 1086] +05/18 15:46:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:46:50 INFO: [Worker 0] Worker 0 house 2 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:46:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 15:46:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:46:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:46:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.437s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:46:55 ERROR: [Worker 0] Worker 0 house 2 episode 2 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:46:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:46:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:46:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:46:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:46:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:46:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.081m, effective arm-mount z=0.779m (base_body_z=-0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.081005m [env.py: 870] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:46:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.5822768 -0.18632605 -0.08100521] yaw=-149.0deg [env.py: 1019] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.09290491 -1.20305723 -0.08100521] yaw=178.0deg [env.py: 1019] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 124.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.28988695 -0.17491953 -0.08100521] yaw=-122.2deg [env.py: 1019] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:46:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.6ms, total=133.7ms [env.py: 1075] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.582, -0.186, -0.081) [env.py: 1079] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.0 deg [env.py: 1082] +05/18 15:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/18 15:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:46:57 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:46:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 15:46:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:46:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.414s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:47:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 100.162[deg] [grasp_sample.py: 596] +05/18 15:47:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:47:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:47:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:48:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:48:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:49:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:49:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:23 INFO: [Worker 0] Feasibility-checked 74 grasps in 5.405s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:49:23 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.589[deg] [grasp_sample.py: 596] +05/18 15:49:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:49:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:49:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:49:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:50:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:50:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:50:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 4.939s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:22 INFO: [Worker 0] Feasible grasp found 160 (originally 45): w/ 0.101[m] 10.355[deg] [grasp_sample.py: 596] +05/18 15:50:24 ERROR: [Worker 0] Worker 0 house 2 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:50:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:50:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:50:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:25 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: 273] +05/18 15:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053457m [env.py: 870] +05/18 15:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.33568486 -0.27174245 0.05345711] yaw=-122.7deg [env.py: 1019] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39155864 -0.40721735 0.05345711] yaw=-164.2deg [env.py: 1019] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.04222116 -1.16645856 0.05345711] yaw=162.8deg [env.py: 1019] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.5ms, total=218.5ms [env.py: 1075] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.336, -0.272, 0.053) [env.py: 1079] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.7 deg [env.py: 1082] +05/18 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m [env.py: 1086] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:26 INFO: [Worker 0] Worker 0 house 2 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:50:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.956s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.672[m] 116.785[deg] [grasp_sample.py: 596] +05/18 15:50:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:50:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:50:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:51:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:52:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:18 INFO: [Worker 0] Worker 0 house 2 episode 4 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:53:41 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [pipeline.py: 1174] +05/18 15:53:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:53:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:53:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:53:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [save_utils.py: 785] +05/18 15:53:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.17s (batch: 3.91s, save: 10.26s) [pipeline.py: 300] +05/18 15:53:56 INFO: [Worker 0] [PROFILE] Episode 4 house 2 success=True episode_total=1.98s: + episode_total: mean=107.23s, total=428.91s, count=4, min=6118.4ms, max=210098.2ms + sensor_polling: mean=516.7ms, total=304.36s, count=589, min=456.9ms, max=636.2ms + physics_step: mean=31.2ms, total=18.39s, count=589, min=21.0ms, max=51.9ms + save_trajectories: mean=10.26s, total=10.26s, count=1, min=10261.5ms, max=10261.5ms + save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3911.6ms, max=3911.6ms + task_sampling: mean=495.7ms, total=1.98s, count=4, min=435.7ms, max=542.4ms + task_specific_sample: mean=492.1ms, total=1.97s, count=4, min=432.6ms, max=539.0ms + scene_randomize: mean=1.8ms, total=7.3ms, count=4, min=1.6ms, max=2.3ms + mj_forward_sync: mean=689.4us, total=2.8ms, count=4, min=0.6ms, max=1.0ms + policy_setup: mean=19.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:53:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:53:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:53:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:53:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:53:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:53:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:53:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028987m [env.py: 870] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:53:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.23717872 -0.28864334 -0.02898735] yaw=-159.2deg [env.py: 1019] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.06177309 -0.55711202 -0.02898735] yaw=-189.0deg [env.py: 1019] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.0256409 -0.59658232 -0.02898735] yaw=-144.8deg [env.py: 1019] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:53:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.4ms, total=127.4ms [env.py: 1075] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.237, -0.289, -0.029) [env.py: 1079] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.2 deg [env.py: 1082] +05/18 15:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/18 15:53:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:53:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:53:58 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:53:58 INFO: [Worker 0] Worker 0 house 2 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:53:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 15:53:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:53:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:53:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.576s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:07 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.528[m] 83.492[deg] [grasp_sample.py: 596] +05/18 15:54:08 ERROR: [Worker 0] Worker 0 house 2 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:54:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:10 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.097m, effective arm-mount z=0.763m (base_body_z=-0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096595m [env.py: 870] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.17692582 -0.50237854 -0.09659458] yaw=-160.4deg [env.py: 1019] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 144.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.0784196 -1.17979028 -0.09659458] yaw=166.0deg [env.py: 1019] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.19653854 -1.02325041 -0.09659458] yaw=190.3deg [env.py: 1019] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.7ms, total=202.7ms [env.py: 1075] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.177, -0.502, -0.097) [env.py: 1079] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg [env.py: 1082] +05/18 15:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:11 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.011s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.632[m] 87.960[deg] [grasp_sample.py: 596] +05/18 15:54:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:55:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:55:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:08 INFO: [Worker 0] Worker 0 house 2 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:57:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [pipeline.py: 1174] +05/18 15:57:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:57:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:57:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:57:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [save_utils.py: 785] +05/18 15:57:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.49s (batch: 4.01s, save: 10.48s) [pipeline.py: 300] +05/18 15:57:46 INFO: [Worker 0] [PROFILE] Episode 6 house 2 success=True episode_total=1.04s: + episode_total: mean=113.67s, total=227.33s, count=2, min=10950.4ms, max=216380.7ms + sensor_polling: mean=529.6ms, total=158.89s, count=300, min=478.0ms, max=668.6ms + save_trajectories: mean=10.48s, total=10.48s, count=1, min=10484.1ms, max=10484.1ms + physics_step: mean=31.8ms, total=9.53s, count=300, min=23.1ms, max=44.0ms + save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4008.3ms, max=4008.3ms + task_sampling: mean=520.5ms, total=1.04s, count=2, min=450.2ms, max=590.7ms + task_specific_sample: mean=516.4ms, total=1.03s, count=2, min=446.1ms, max=586.7ms + scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=2.1ms, max=2.5ms + mj_forward_sync: mean=638.8us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=29.3us, 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] +05/18 15:57:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:48 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:48 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: 273] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050986m [env.py: 870] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11175163 -0.48138567 0.05098569] yaw=-157.4deg [env.py: 1019] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.11962745 -1.14448302 0.05098569] yaw=166.2deg [env.py: 1019] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.10520071 -1.40538561 0.05098569] yaw=153.3deg [env.py: 1019] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=232.2ms, total=232.3ms [env.py: 1075] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.112, -0.481, 0.051) [env.py: 1079] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.4 deg [env.py: 1082] +05/18 15:57:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.263m [env.py: 1086] +05/18 15:57:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:49 INFO: [Worker 0] Worker 0 house 2 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.031s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:57:54 ERROR: [Worker 0] Worker 0 house 2 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:57:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:56 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.072m, effective arm-mount z=0.788m (base_body_z=-0.072m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.072498m [env.py: 870] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 149.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.41837272 -0.33662672 -0.07249841] yaw=-136.9deg [env.py: 1019] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.21331072 -1.10766008 -0.07249841] yaw=162.4deg [env.py: 1019] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.08593206 -0.52773738 -0.07249841] yaw=-147.4deg [env.py: 1019] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.5ms, total=164.5ms [env.py: 1075] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.418, -0.337, -0.072) [env.py: 1079] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.9 deg [env.py: 1082] +05/18 15:57:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:56 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.107s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.556s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:57:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 87.749[deg] [grasp_sample.py: 596] +05/18 15:57:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:57:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:57:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:58:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:59:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:00:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:00:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:00:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:53 INFO: [Worker 0] Feasibility-checked 74 grasps in 5.472s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:00:53 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.202[deg] [grasp_sample.py: 596] +05/18 16:00:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:00:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:00:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:12 INFO: [Worker 0] Worker 0 house 2 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:01:35 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [pipeline.py: 1174] +05/18 16:01:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:01:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:01:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:01:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [save_utils.py: 785] +05/18 16:01:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.66s (batch: 3.97s, save: 10.69s) [pipeline.py: 300] +05/18 16:01:50 INFO: [Worker 0] [PROFILE] Episode 8 house 2 success=True episode_total=1.04s: + episode_total: mean=120.19s, total=240.39s, count=2, min=5838.6ms, max=234547.4ms + sensor_polling: mean=536.5ms, total=160.96s, count=300, min=479.6ms, max=680.1ms + save_trajectories: mean=10.69s, total=10.69s, count=1, min=10689.9ms, max=10689.9ms + physics_step: mean=32.5ms, total=9.75s, count=300, min=22.8ms, max=43.0ms + save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3965.7ms, max=3965.7ms + task_sampling: mean=520.6ms, total=1.04s, count=2, min=465.0ms, max=576.2ms + task_specific_sample: mean=516.6ms, total=1.03s, count=2, min=461.6ms, max=571.7ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.5ms, max=2.9ms + mj_forward_sync: mean=625.4us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=24.3us, 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] +05/18 16:01:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:01:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:01:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:01:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:52 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:01:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:01:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:01:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.096281m [env.py: 870] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:01:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.52977042 -0.26311018 -0.09628134] yaw=-132.0deg [env.py: 1019] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15442125 -0.93104307 -0.09628134] yaw=155.7deg [env.py: 1019] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17758487 -0.6384314 -0.09628134] yaw=-146.7deg [env.py: 1019] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:01:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=166.4ms, total=166.4ms [env.py: 1075] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.530, -0.263, -0.096) [env.py: 1079] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.0 deg [env.py: 1082] +05/18 16:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/18 16:01:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:01:53 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 16:01:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s [base_object_manipulation_planner_policy.py: 377] +05/18 16:01:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:01:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:01:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.085s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:01:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.775s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:01:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.655[m] 101.057[deg] [grasp_sample.py: 596] +05/18 16:01:56 ERROR: [Worker 0] Worker 0 house 2 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:01:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:01:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:01:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:01:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:58 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:01:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:01:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:01:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028132m [env.py: 870] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:01:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.04212683 -1.081815 0.02813176] yaw=170.3deg [env.py: 1019] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:01:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.6ms, total=222.7ms [env.py: 1075] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.042, -1.082, 0.028) [env.py: 1079] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg [env.py: 1082] +05/18 16:01:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.129m [env.py: 1086] +05/18 16:01:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:01:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:01:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:01:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:01:59 INFO: [Worker 0] Worker 0 house 2 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 16:01:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 16:01:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:01:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:01:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.109s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.403s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:02:07 ERROR: [Worker 0] Worker 0 house 2 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:02:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:02:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:09 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:02:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:02:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065403m [env.py: 870] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.06926728 -1.40122957 0.06540274] yaw=149.6deg [env.py: 1019] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 142.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.1198187 -0.24527696 0.06540274] yaw=-144.3deg [env.py: 1019] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.7ms, total=227.7ms [env.py: 1075] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.069, -1.401, 0.065) [env.py: 1079] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.6 deg [env.py: 1082] +05/18 16:02:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.116m [env.py: 1086] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:10 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 16:02:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:02:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.113s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.931s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:02:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.789[m] 54.313[deg] [grasp_sample.py: 596] +05/18 16:02:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:02:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:02:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:03:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:04:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:14 INFO: [Worker 0] Worker 0 house 2 episode 11 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:05:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [pipeline.py: 1174] +05/18 16:05:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:05:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:05:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:05:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [save_utils.py: 785] +05/18 16:05:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 13.91s (batch: 3.79s, save: 10.12s) [pipeline.py: 300] +05/18 16:05:51 INFO: [Worker 0] [PROFILE] Episode 11 house 2 success=True episode_total=1.57s: + episode_total: mean=78.51s, total=235.54s, count=3, min=4281.5ms, max=222078.8ms + sensor_polling: mean=548.9ms, total=164.67s, count=300, min=522.8ms, max=683.2ms + save_trajectories: mean=10.12s, total=10.12s, count=1, min=10123.2ms, max=10123.2ms + physics_step: mean=33.0ms, total=9.90s, count=300, min=24.5ms, max=47.4ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3788.3ms, max=3788.3ms + task_sampling: mean=523.0ms, total=1.57s, count=3, min=489.6ms, max=546.8ms + task_specific_sample: mean=519.3ms, total=1.56s, count=3, min=485.2ms, max=543.1ms + scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.5ms, max=2.9ms + mj_forward_sync: mean=590.3us, total=1.8ms, count=3, min=0.6ms, max=0.6ms + policy_setup: mean=16.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:05:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:05:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:53 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:05:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:05:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007390m [env.py: 870] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.16356391 -0.53976168 0.00738962] yaw=-174.5deg [env.py: 1019] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 137.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17623041 -0.88234479 0.00738962] yaw=-190.9deg [env.py: 1019] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.05245951 -0.68358473 0.00738962] yaw=-154.8deg [env.py: 1019] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=171.2ms, total=171.3ms [env.py: 1075] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.164, -0.540, 0.007) [env.py: 1079] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.5 deg [env.py: 1082] +05/18 16:05:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:53 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:53 INFO: [Worker 0] Worker 0 house 2 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:05:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.536s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:05:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.642[m] 91.295[deg] [grasp_sample.py: 596] +05/18 16:05:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:06:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:06:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:07:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:07:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:59 INFO: [Worker 0] Worker 0 house 2 episode 12 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:09:21 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [pipeline.py: 1174] +05/18 16:09:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:09:21 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:09:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:09:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [save_utils.py: 785] +05/18 16:09:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.24s (batch: 3.73s, save: 10.52s) [pipeline.py: 300] +05/18 16:09:36 INFO: [Worker 0] [PROFILE] Episode 12 house 2 success=True episode_total=0.51s: + episode_total: mean=223.29s, total=223.29s, count=1, min=223287.2ms, max=223287.2ms + sensor_polling: mean=552.5ms, total=165.76s, count=300, min=514.3ms, max=695.2ms + save_trajectories: mean=10.52s, total=10.52s, count=1, min=10516.3ms, max=10516.3ms + physics_step: mean=33.4ms, total=10.01s, count=300, min=23.0ms, max=51.4ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3726.2ms, max=3726.2ms + task_sampling: mean=509.8ms, total=509.8ms, count=1, min=509.8ms, max=509.8ms + task_specific_sample: mean=505.2ms, total=505.2ms, count=1, min=505.2ms, max=505.2ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=667.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + 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] +05/18 16:09:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:09:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:09:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:38 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:09:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:09:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:09:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.010m, effective arm-mount z=0.850m (base_body_z=-0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009857m [env.py: 870] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:09:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 145.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.07600045 -1.16554121 -0.00985664] yaw=175.6deg [env.py: 1019] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:09:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.4ms, total=225.5ms [env.py: 1075] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.076, -1.166, -0.010) [env.py: 1079] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.6 deg [env.py: 1082] +05/18 16:09:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.177m [env.py: 1086] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:09:38 INFO: [Worker 0] Worker 0 house 2 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 16:09:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 16:09:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.002s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:09:44 ERROR: [Worker 0] Worker 0 house 2 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:09:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:09:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:09:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:09:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:09:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:09:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048614m [env.py: 870] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:09:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.03746126 -0.9195453 -0.04861426] yaw=179.3deg [env.py: 1019] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.0021306 -0.67540216 -0.04861426] yaw=-186.2deg [env.py: 1019] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.02729367 -1.29241833 -0.04861426] yaw=152.5deg [env.py: 1019] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:09:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=198.5ms, total=198.6ms [env.py: 1075] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.037, -0.920, -0.049) [env.py: 1079] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.3 deg [env.py: 1082] +05/18 16:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.112m [env.py: 1086] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:09:46 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:09:46 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 16:09:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s [base_object_manipulation_planner_policy.py: 377] +05/18 16:09:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.088s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.054s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:09:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.845[m] 119.225[deg] [grasp_sample.py: 596] +05/18 16:09:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:09:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:09:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:11:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:11:51 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:42 INFO: [Worker 0] Worker 0 house 2 episode 14 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:12:42 WARNING: [Worker 0] Asset Fridge_m_2 (hash: ced2e34b7080d5dfaeb602c72825d9cf) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure) [task_sampler.py: 396] +05/18 16:12:42 INFO: [Worker 0] [PROFILE] Episode 14 house 2 success=False episode_total=1.09s: + episode_total: mean=91.24s, total=182.47s, count=2, min=5790.5ms, max=176682.3ms + sensor_polling: mean=526.5ms, total=157.96s, count=300, min=487.1ms, max=673.8ms + physics_step: mean=31.2ms, total=9.35s, count=300, min=22.6ms, max=46.7ms + task_sampling: mean=546.9ms, total=1.09s, count=2, min=529.6ms, max=564.2ms + task_specific_sample: mean=542.9ms, total=1.09s, count=2, min=525.9ms, max=559.8ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.6ms, max=2.8ms + mj_forward_sync: mean=651.3us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:12:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:12:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:12:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.052m, effective arm-mount z=0.808m (base_body_z=-0.052m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.052344m [env.py: 870] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.34173579 -0.17857705 -0.05234421] yaw=-125.2deg [env.py: 1019] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.59488215 -0.20352261 -0.05234421] yaw=-106.9deg [env.py: 1019] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=227.8ms, total=227.9ms [env.py: 1075] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.342, -0.179, -0.052) [env.py: 1079] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.2 deg [env.py: 1082] +05/18 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/18 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:45 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.472s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:53 INFO: [Worker 0] Feasible grasp found 173 (originally 58): w/ 0.713[m] 78.765[deg] [grasp_sample.py: 596] +05/18 16:12:55 ERROR: [Worker 0] Worker 0 house 2 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:12:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:12:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:12:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:12:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064264m [env.py: 870] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.14371704 -0.91141395 0.06426376] yaw=-181.5deg [env.py: 1019] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10018609 -0.55892087 0.06426376] yaw=-181.6deg [env.py: 1019] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.49581185 -0.14596952 0.06426376] yaw=-125.6deg [env.py: 1019] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.1ms, total=193.1ms [env.py: 1075] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.144, -0.911, 0.064) [env.py: 1079] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.5 deg [env.py: 1082] +05/18 16:12:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/18 16:12:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:57 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:13:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.233s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:13:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.665[m] 127.657[deg] [grasp_sample.py: 596] +05/18 16:13:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:13:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:13:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:14:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:14:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:14:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:14:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.709s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:14:46 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.166[m] 9.771[deg] [grasp_sample.py: 596] +05/18 16:14:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:14:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:14:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:15:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:21 INFO: [Worker 0] Worker 0 house 2 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:16:45 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [pipeline.py: 1174] +05/18 16:16:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:16:45 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:17:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:17:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [save_utils.py: 785] +05/18 16:17:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.45s (batch: 3.79s, save: 10.66s) [pipeline.py: 300] +05/18 16:17:00 INFO: [Worker 0] [PROFILE] Episode 16 house 2 success=True episode_total=1.05s: + episode_total: mean=127.18s, total=254.37s, count=2, min=10873.7ms, max=243491.8ms + sensor_polling: mean=543.6ms, total=163.08s, count=300, min=480.4ms, max=711.8ms + save_trajectories: mean=10.66s, total=10.66s, count=1, min=10658.6ms, max=10658.6ms + physics_step: mean=32.9ms, total=9.88s, count=300, min=23.0ms, max=45.9ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3792.6ms, max=3792.6ms + task_sampling: mean=526.4ms, total=1.05s, count=2, min=511.0ms, max=541.9ms + task_specific_sample: mean=522.5ms, total=1.05s, count=2, min=506.6ms, max=538.5ms + scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.5ms, max=1.9ms + mj_forward_sync: mean=639.0us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=15.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:17:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:02 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045196m [env.py: 870] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20152882 -1.10025154 0.04519567] yaw=163.8deg [env.py: 1019] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=233.3ms, total=233.3ms [env.py: 1075] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -1.100, 0.045) [env.py: 1079] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.8 deg [env.py: 1082] +05/18 16:17:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.289m [env.py: 1086] +05/18 16:17:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:02 INFO: [Worker 0] Worker 0 house 2 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.497s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:08 ERROR: [Worker 0] Worker 0 house 2 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:10 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073034m [env.py: 870] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -92.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.14916161 -0.29391062 0.07303389] yaw=-120.1deg [env.py: 1019] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.4267841 -0.30181057 0.07303389] yaw=-148.1deg [env.py: 1019] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.22071695 -0.99683081 0.07303389] yaw=202.6deg [env.py: 1019] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=178.2ms, total=178.2ms [env.py: 1075] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.149, -0.294, 0.073) [env.py: 1079] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -120.1 deg [env.py: 1082] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.115m [env.py: 1086] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:11 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:11 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.115s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.613s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:16 ERROR: [Worker 0] Worker 0 house 2 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:18 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:18 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: 273] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011780m [env.py: 870] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.1888497 0.00304245 0.01178035] yaw=-141.1deg [env.py: 1019] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.10127242 -0.40450231 0.01178035] yaw=-128.6deg [env.py: 1019] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.30672667 -0.39668438 0.01178035] yaw=-162.3deg [env.py: 1019] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=203.0ms [env.py: 1075] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.189, 0.003, 0.012) [env.py: 1079] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg [env.py: 1082] +05/18 16:17:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.276m [env.py: 1086] +05/18 16:17:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:19 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:19 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.118s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.537s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:25 ERROR: [Worker 0] Worker 0 house 2 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:26 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012549m [env.py: 870] +05/18 16:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 157.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10485762 -1.0710711 0.01254888] yaw=185.4deg [env.py: 1019] +05/18 16:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.40694045 -0.2128066 0.01254888] yaw=-149.7deg [env.py: 1019] +05/18 16:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.06370905 -0.90797936 0.01254888] yaw=-205.5deg [env.py: 1019] +05/18 16:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=153.9ms, total=153.9ms [env.py: 1075] +05/18 16:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.105, -1.071, 0.013) [env.py: 1079] +05/18 16:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.4 deg [env.py: 1082] +05/18 16:17:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.189m [env.py: 1086] +05/18 16:17:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:27 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.111s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.067s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:32 ERROR: [Worker 0] Worker 0 house 2 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:34 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085801m [env.py: 870] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.39556648 -0.31257059 0.08580075] yaw=-116.2deg [env.py: 1019] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.09573446 -1.07973144 0.08580075] yaw=162.7deg [env.py: 1019] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.20711156 -1.34051645 0.08580075] yaw=174.7deg [env.py: 1019] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=244.0ms, total=244.1ms [env.py: 1075] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.396, -0.313, 0.086) [env.py: 1079] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.2 deg [env.py: 1082] +05/18 16:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:35 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:35 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.112s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.146s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.583[m] 81.800[deg] [grasp_sample.py: 596] +05/18 16:17:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:17:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:17:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:18:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:18:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:20:39 INFO: [Worker 0] Worker 0 house 2 episode 21 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:21:03 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [pipeline.py: 1174] +05/18 16:21:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:21:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:21:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:21:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [save_utils.py: 785] +05/18 16:21:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.75s (batch: 4.00s, save: 10.75s) [pipeline.py: 300] +05/18 16:21:18 INFO: [Worker 0] [PROFILE] Episode 21 house 2 success=True episode_total=2.64s: + episode_total: mean=49.75s, total=248.74s, count=5, min=5782.9ms, max=223996.3ms + sensor_polling: mean=529.4ms, total=158.82s, count=300, min=491.8ms, max=643.7ms + save_trajectories: mean=10.75s, total=10.75s, count=1, min=10750.5ms, max=10750.5ms + physics_step: mean=32.2ms, total=9.66s, count=300, min=24.7ms, max=50.7ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3997.8ms, max=3997.8ms + task_sampling: mean=528.9ms, total=2.64s, count=5, min=486.6ms, max=564.3ms + task_specific_sample: mean=525.4ms, total=2.63s, count=5, min=483.4ms, max=560.7ms + scene_randomize: mean=1.9ms, total=9.3ms, count=5, min=1.5ms, max=2.3ms + mj_forward_sync: mean=628.4us, total=3.1ms, count=5, min=0.6ms, max=0.8ms + policy_setup: mean=15.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:21:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:21:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:21:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:21:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:20 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:21:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:21:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:21:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074431m [env.py: 870] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:21:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 141.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21109302 -0.73797101 0.07443092] yaw=-154.1deg [env.py: 1019] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 142.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.15485718 -0.96765761 0.07443092] yaw=187.1deg [env.py: 1019] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:21:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=247.0ms, total=247.0ms [env.py: 1075] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.211, -0.738, 0.074) [env.py: 1079] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg [env.py: 1082] +05/18 16:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m [env.py: 1086] +05/18 16:21:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:21:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:21:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:21:20 INFO: [Worker 0] Worker 0 house 2 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:21:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s [base_object_manipulation_planner_policy.py: 377] +05/18 16:21:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:21:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:21:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:21:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.196s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:21:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 99.639[deg] [grasp_sample.py: 596] +05/18 16:21:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:21:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:21:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:22:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:22:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:18 INFO: [Worker 0] Worker 0 house 2 episode 22 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:24:42 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [pipeline.py: 1174] +05/18 16:24:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:24:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:24:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:24:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [save_utils.py: 785] +05/18 16:24:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 15.09s (batch: 3.99s, save: 11.11s) [pipeline.py: 300] +05/18 16:24:57 INFO: [Worker 0] [PROFILE] Episode 22 house 2 success=True episode_total=0.59s: + episode_total: mean=217.56s, total=217.56s, count=1, min=217561.8ms, max=217561.8ms + sensor_polling: mean=533.5ms, total=160.04s, count=300, min=506.4ms, max=660.2ms + save_trajectories: mean=11.11s, total=11.11s, count=1, min=11106.1ms, max=11106.1ms + physics_step: mean=32.3ms, total=9.68s, count=300, min=23.5ms, max=47.1ms + save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3988.1ms, max=3988.1ms + task_sampling: mean=587.1ms, total=587.1ms, count=1, min=587.1ms, max=587.1ms + task_specific_sample: mean=582.5ms, total=582.5ms, count=1, min=582.5ms, max=582.5ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=711.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:24:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:24:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:59 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:24:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.063m, effective arm-mount z=0.797m (base_body_z=-0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.062804m [env.py: 870] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 142.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.39289772 -0.40497282 -0.06280364] yaw=-151.2deg [env.py: 1019] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=241.6ms, total=241.7ms [env.py: 1075] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.393, -0.405, -0.063) [env.py: 1079] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg [env.py: 1082] +05/18 16:24:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/18 16:24:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:00 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:25:00 INFO: [Worker 0] Worker 0 house 2 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:25:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/18 16:25:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:25:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:25:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:25:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.356s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:25:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.553[m] 81.378[deg] [grasp_sample.py: 596] +05/18 16:25:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:25:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:25:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:26:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:02 INFO: [Worker 0] Worker 0 house 2 episode 23 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:28:26 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [pipeline.py: 1174] +05/18 16:28:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:28:26 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:28:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:28:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [save_utils.py: 785] +05/18 16:28:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 15.66s (batch: 4.00s, save: 11.66s) [pipeline.py: 300] +05/18 16:28:42 INFO: [Worker 0] [PROFILE] Episode 23 house 2 success=True episode_total=0.60s: + episode_total: mean=222.72s, total=222.72s, count=1, min=222723.2ms, max=222723.2ms + sensor_polling: mean=552.6ms, total=165.78s, count=300, min=512.3ms, max=706.8ms + save_trajectories: mean=11.66s, total=11.66s, count=1, min=11661.5ms, max=11661.5ms + physics_step: mean=33.6ms, total=10.09s, count=300, min=22.5ms, max=44.5ms + save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4003.1ms, max=4003.1ms + task_sampling: mean=597.6ms, total=597.6ms, count=1, min=597.6ms, max=597.6ms + task_specific_sample: mean=592.7ms, total=592.7ms, count=1, min=592.7ms, max=592.7ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=827.2us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=16.1us, 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] +05/18 16:28:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014984m [env.py: 870] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.04131871 -0.24318287 -0.01498441] yaw=-150.4deg [env.py: 1019] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11881014 -0.64046433 -0.01498441] yaw=-163.9deg [env.py: 1019] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 133.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.17127358 -0.1799866 -0.01498441] yaw=-129.0deg [env.py: 1019] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=202.0ms, total=202.0ms [env.py: 1075] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.041, -0.243, -0.015) [env.py: 1079] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.4 deg [env.py: 1082] +05/18 16:28:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.233m [env.py: 1086] +05/18 16:28:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:44 INFO: [Worker 0] Worker 0 house 2 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.147s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.405s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:28:50 ERROR: [Worker 0] Worker 0 house 2 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:28:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:28:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:28:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:52 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:28:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:28:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:28:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088120m [env.py: 870] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:28:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.0813895 -1.1311246 0.08812041] yaw=146.9deg [env.py: 1019] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.14276864 -0.62205129 0.08812041] yaw=-194.6deg [env.py: 1019] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:28:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.0ms, total=243.1ms [env.py: 1075] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.081, -1.131, 0.088) [env.py: 1079] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.9 deg [env.py: 1082] +05/18 16:28:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:28:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:28:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:28:52 INFO: [Worker 0] Worker 0 house 2 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:28:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 16:28:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:28:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.114s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.329s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:55 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.627[m] 94.053[deg] [grasp_sample.py: 596] +05/18 16:28:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:28:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:30:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:52 INFO: [Worker 0] Worker 0 house 2 episode 25 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:32:15 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [pipeline.py: 1174] +05/18 16:32:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_100 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:32:15 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:32:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:32:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_100 [save_utils.py: 785] +05/18 16:32:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_100 in 14.18s (batch: 3.82s, save: 10.36s) [pipeline.py: 300] +05/18 16:32:30 INFO: [Worker 0] [PROFILE] Episode 25 house 2 success=True episode_total=1.12s: + episode_total: mean=112.08s, total=224.16s, count=2, min=6197.0ms, max=217963.8ms + sensor_polling: mean=544.2ms, total=163.26s, count=300, min=509.2ms, max=675.4ms + save_trajectories: mean=10.36s, total=10.36s, count=1, min=10364.0ms, max=10364.0ms + physics_step: mean=32.5ms, total=9.76s, count=300, min=28.4ms, max=46.5ms + save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3816.1ms, max=3816.1ms + task_sampling: mean=561.1ms, total=1.12s, count=2, min=546.8ms, max=575.5ms + task_specific_sample: mean=556.3ms, total=1.11s, count=2, min=542.7ms, max=569.9ms + scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.3ms, max=2.5ms + mj_forward_sync: mean=625.2us, total=1.3ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:32:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:32:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:32:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:31 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:32:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:32:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000255m [env.py: 870] +05/18 16:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 4.02015854e-02 -1.06786369e+00 2.55316478e-04] yaw=186.9deg [env.py: 1019] +05/18 16:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-5.03519718e-02 -1.06787891e+00 2.55316478e-04] yaw=154.8deg [env.py: 1019] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 1.23249482e-01 -1.41102087e+00 2.55316478e-04] yaw=154.6deg [env.py: 1019] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:32:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=177.0ms, total=177.1ms [env.py: 1075] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.040, -1.068, 0.000) [env.py: 1079] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.9 deg [env.py: 1082] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.125m [env.py: 1086] +05/18 16:32:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:32:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:32:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:32:32 INFO: [Worker 0] Worker 0 house 2 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/18 16:32:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.979s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:32:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.596[m] 92.202[deg] [grasp_sample.py: 596] +05/18 16:32:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:32:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:32:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] diff --git a/fridge_m_2house/sim/house_2/chunk_100/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_100/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..270335330653bb763d52cee855c7261423de6ab2 --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_100/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a973ba3bdeee885ddef924f2b4dee4a9dc474b3721a3abe0ceca1b4939397bc +size 786630546