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not set) [pipeline.py: 640] +05/18 15:42:53 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 15:42:53 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 15:42:53 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 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'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, + 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'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 15:42:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 15:42:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:42:53 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1) [pipeline.py: 464] +05/18 15:42:53 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:42:57 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 15:42:57 INFO: [Worker 0] Setting up scene for house 2, task None... [pick_task_sampler.py: 197] +05/18 15:42:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:42:57 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 15:42:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:42:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:42:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:42:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:42:57 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 15:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:42:57 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 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053482m [env.py: 870] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:42:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0845763 -0.96114283 0.05348161] yaw=173.2deg [env.py: 1019] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.25639474 -0.49967918 0.05348161] yaw=-142.9deg [env.py: 1019] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:42:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=12.4ms, retries=170.4ms, total=182.8ms [env.py: 1075] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.085, -0.961, 0.053) [env.py: 1079] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.2 deg [env.py: 1082] +05/18 15:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.160m [env.py: 1086] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:42:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:42:57 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:21 INFO: [Worker 0] Warmed up parallel IK solver in 24.023s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.002s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:43:23 ERROR: [Worker 0] Worker 0 house 2 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:43:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:43:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:43:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:43:25 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 15:43:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:43:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031413m [env.py: 870] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:43:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.09253315 -0.75754873 0.03141343] yaw=-191.7deg [env.py: 1019] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 139.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.12781607 -0.99484209 0.03141343] yaw=185.2deg [env.py: 1019] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.06006062 -0.62713819 0.03141343] yaw=-140.7deg [env.py: 1019] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:43:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.6ms, total=114.6ms [env.py: 1075] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.093, -0.758, 0.031) [env.py: 1079] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -191.7 deg [env.py: 1082] +05/18 15:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:43:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:43:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:43:25 INFO: [Worker 0] Worker 0 house 2 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:43:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 15:43:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:43:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:43:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:43:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.633s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:43:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.517[m] 87.519[deg] [grasp_sample.py: 596] +05/18 15:43:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:43:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:43:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:43:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:43:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:43:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:43:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:44:38 INFO: [Worker 0] Worker 0 house 2 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:44:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 15:44:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:44:52 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:45:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:45:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 15:45:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.74s (batch: 2.80s, save: 6.94s) [pipeline.py: 300] +05/18 15:45:02 INFO: [Worker 0] [PROFILE] Episode 1 house 2 success=True episode_total=4.77s: + episode_total: mean=63.88s, total=127.76s, count=2, min=30542.4ms, max=97222.2ms + sensor_polling: mean=217.2ms, total=65.15s, count=300, min=194.2ms, max=355.4ms + save_trajectories: mean=6.94s, total=6.94s, count=1, min=6939.9ms, max=6939.9ms + task_sampling: mean=2.39s, total=4.77s, count=2, min=299.5ms, max=4471.9ms + physics_step: mean=14.3ms, total=4.28s, count=300, min=11.0ms, max=19.5ms + scene_load: mean=4.08s, total=4.08s, count=1, min=4082.1ms, max=4082.1ms + save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2797.6ms, max=2797.6ms + scene_env_create: mean=2.69s, total=2.69s, count=1, min=2688.1ms, max=2688.1ms + scene_compile: mean=1.20s, total=1.20s, count=1, min=1203.2ms, max=1203.2ms + compile_mujoco: mean=711.5ms, total=711.5ms, count=1, min=711.5ms, max=711.5ms + task_specific_sample: mean=342.5ms, total=684.9ms, count=2, min=297.4ms, max=387.5ms + compile_xml_load: mean=422.8ms, total=422.8ms, count=1, min=422.8ms, max=422.8ms + scene_asset_install: mean=127.4ms, total=127.4ms, count=1, min=127.4ms, max=127.4ms + asset_install_objects: mean=63.8ms, total=63.8ms, count=1, min=63.8ms, max=63.8ms + scene_init: mean=63.1ms, total=63.1ms, count=1, min=63.1ms, max=63.1ms + asset_install_grasps: mean=60.5ms, total=60.5ms, count=1, min=60.5ms, max=60.5ms + compile_aux_objects: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms + compile_aux_policy_objects: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms + compile_robot_add: mean=24.0ms, total=24.0ms, count=1, min=24.0ms, max=24.0ms + asset_install_scene: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + scene_randomize: mean=903.4us, total=1.8ms, count=2, min=0.8ms, max=1.0ms + mj_forward_sync: mean=315.5us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=26.1us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:45:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:45:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:45:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:45:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:04 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:45:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:45:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:45:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.054m, effective arm-mount z=0.806m (base_body_z=-0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053561m [env.py: 870] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:45:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.20969665 -0.36585266 -0.05356095] yaw=-141.0deg [env.py: 1019] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 141.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20063516 -1.04882022 -0.05356095] yaw=172.4deg [env.py: 1019] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07738561 -0.42383573 -0.05356095] yaw=-139.1deg [env.py: 1019] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:45:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.7ms, total=142.7ms [env.py: 1075] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.210, -0.366, -0.054) [env.py: 1079] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg [env.py: 1082] +05/18 15:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/18 15:45:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:04 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:45:04 INFO: [Worker 0] Worker 0 house 2 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:45:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/18 15:45:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:45:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:45:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:45:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.973s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:45:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.741[m] 109.386[deg] [grasp_sample.py: 596] +05/18 15:45:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:45:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:45:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:45:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:45:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:45:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:17 INFO: [Worker 0] Worker 0 house 2 episode 2 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:46:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 15:46:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:46:31 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:46:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:46:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 15:46:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.48s (batch: 2.74s, save: 6.74s) [pipeline.py: 300] +05/18 15:46:41 INFO: [Worker 0] [PROFILE] Episode 2 house 2 success=True episode_total=0.33s: + episode_total: mean=97.33s, total=97.33s, count=1, min=97330.2ms, max=97330.2ms + sensor_polling: mean=216.4ms, total=64.93s, count=300, min=197.3ms, max=352.2ms + save_trajectories: mean=6.74s, total=6.74s, count=1, min=6741.4ms, max=6741.4ms + physics_step: mean=14.3ms, total=4.29s, count=300, min=11.2ms, max=19.4ms + save_batch_prep: mean=2.74s, total=2.74s, count=1, min=2737.2ms, max=2737.2ms + task_sampling: mean=328.3ms, total=328.3ms, count=1, min=328.3ms, max=328.3ms + task_specific_sample: mean=325.2ms, total=325.2ms, count=1, min=325.2ms, max=325.2ms + scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms + mj_forward_sync: mean=406.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.1us, 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 15:46:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:46:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:46:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:46:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:42 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:46:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:46:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:46:42 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 15:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085574m [env.py: 870] +05/18 15:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:46:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 136.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 129.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.57479674 -0.14328768 0.08557407] yaw=-150.0deg [env.py: 1019] +05/18 15:46:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.39992249 -0.18517277 0.08557407] yaw=-140.5deg [env.py: 1019] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:46:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.0ms, total=140.0ms [env.py: 1075] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.575, -0.143, 0.086) [env.py: 1079] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg [env.py: 1082] +05/18 15:46:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:46:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:46:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:46:43 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:46:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 15:46:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:46:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:46:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:46:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.470[m] 89.417[deg] [grasp_sample.py: 596] +05/18 15:46:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:46:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:46:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:47:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:47:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:47:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:47:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:47:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:35 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.995s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:47:35 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.657[deg] [grasp_sample.py: 596] +05/18 15:47:36 ERROR: [Worker 0] Worker 0 house 2 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:47:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:47:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:37 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:47:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093385m [env.py: 870] +05/18 15:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.10946051 -0.1046572 0.09338529] yaw=-146.9deg [env.py: 1019] +05/18 15:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.41766863 -0.23255751 0.09338529] yaw=-130.9deg [env.py: 1019] +05/18 15:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.21794464 -1.16722444 0.09338529] yaw=154.5deg [env.py: 1019] +05/18 15:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.2ms, total=123.3ms [env.py: 1075] +05/18 15:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.109, -0.105, 0.093) [env.py: 1079] +05/18 15:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg [env.py: 1082] +05/18 15:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.261m [env.py: 1086] +05/18 15:47:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:38 INFO: [Worker 0] Worker 0 house 2 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:38 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 15:47:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.879s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:47:40 ERROR: [Worker 0] Worker 0 house 2 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:47:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:47:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:47:41 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 15:47:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.096m, effective arm-mount z=0.764m (base_body_z=-0.096m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.095912m [env.py: 870] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 132.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.01397257 -1.33067297 -0.09591181] yaw=185.0deg [env.py: 1019] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 155.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17365383 -1.19518872 -0.09591181] yaw=190.9deg [env.py: 1019] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.00243635 -0.53745453 -0.09591181] yaw=-152.7deg [env.py: 1019] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.3ms, total=128.3ms [env.py: 1075] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.014, -1.331, -0.096) [env.py: 1079] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.0 deg [env.py: 1082] +05/18 15:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.165m [env.py: 1086] +05/18 15:47:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:42 INFO: [Worker 0] Worker 0 house 2 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:42 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 15:47:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.861s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:47:43 ERROR: [Worker 0] Worker 0 house 2 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:47:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:47:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:47:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:45 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:47:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:47:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:47:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004934m [env.py: 870] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:47:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.14215217 -1.22164446 0.00493394] yaw=172.5deg [env.py: 1019] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 141.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 135.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10438254 -1.28784245 0.00493394] yaw=143.5deg [env.py: 1019] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.13665659 -1.28725134 0.00493394] yaw=130.6deg [env.py: 1019] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:47:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.9ms, total=115.0ms [env.py: 1075] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.142, -1.222, 0.005) [env.py: 1079] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.5 deg [env.py: 1082] +05/18 15:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/18 15:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:47:45 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:47:45 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 15:47:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 15:47:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:47:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:47:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:47:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.656s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:47:46 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.592[m] 90.096[deg] [grasp_sample.py: 596] +05/18 15:47:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:47:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:47:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:47:46 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 15:48:13 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:48:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:48:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:48:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:48:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:48:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 15:48:38 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.412s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:48:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.037[m] 8.597[deg] [grasp_sample.py: 596] +05/18 15:48:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:48:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:48:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:48:48 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:48:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:49:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:49:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:49:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:05 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.447s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:49:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.419[deg] [grasp_sample.py: 596] +05/18 15:49:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:49:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:49:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:10 INFO: [Worker 0] Worker 0 house 2 episode 6 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:49:10 INFO: [Worker 0] [PROFILE] Episode 6 house 2 success=False episode_total=1.23s: + episode_total: mean=35.65s, total=142.61s, count=4, min=2249.3ms, max=84755.4ms + sensor_polling: mean=214.9ms, total=103.57s, count=482, min=194.3ms, max=434.5ms + physics_step: mean=13.9ms, total=6.69s, count=482, min=9.9ms, max=28.5ms + task_sampling: mean=306.4ms, total=1.23s, count=4, min=286.2ms, max=332.3ms + task_specific_sample: mean=304.1ms, total=1.22s, count=4, min=284.3ms, max=329.8ms + scene_randomize: mean=1.0ms, total=4.2ms, count=4, min=0.8ms, max=1.5ms + mj_forward_sync: mean=343.2us, total=1.4ms, count=4, min=0.3ms, max=0.4ms + policy_setup: mean=15.6us, 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 15:49:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:49:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:49:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:49:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:11 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:49:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:49:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:49:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.006m, effective arm-mount z=0.854m (base_body_z=-0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.005577m [env.py: 870] +05/18 15:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:49:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.0075994 -1.41627191 -0.00557654] yaw=144.2deg [env.py: 1019] +05/18 15:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.08650528 -1.19772178 -0.00557654] yaw=192.4deg [env.py: 1019] +05/18 15:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.2ms, total=148.2ms [env.py: 1075] +05/18 15:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.008, -1.416, -0.006) [env.py: 1079] +05/18 15:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.2 deg [env.py: 1082] +05/18 15:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.178m [env.py: 1086] +05/18 15:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:49:12 INFO: [Worker 0] Worker 0 house 2 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 15:49:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/18 15:49:12 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 15:49:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.875s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:49:14 ERROR: [Worker 0] Worker 0 house 2 episode 7 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:49:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:49:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:49:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:15 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:49:15 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 15:49:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:49:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043286m [env.py: 870] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:49:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03754547 -0.73943944 0.04328627] yaw=-181.0deg [env.py: 1019] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.29307866 0.1183926 0.04328627] yaw=-139.2deg [env.py: 1019] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:49:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=141.4ms, total=141.4ms [env.py: 1075] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.038, -0.739, 0.043) [env.py: 1079] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.0 deg [env.py: 1082] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.126m [env.py: 1086] +05/18 15:49:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:49:16 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:49:16 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 15:49:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 15:49:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:49:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:49:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.768s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:49:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.817[m] 106.002[deg] [grasp_sample.py: 596] +05/18 15:49:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:49:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:49:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:49:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:50:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:27 INFO: [Worker 0] Worker 0 house 2 episode 8 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:50:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 15:50:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:50:41 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:50:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:50:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 15:50:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.58s (batch: 2.75s, save: 6.84s) [pipeline.py: 300] +05/18 15:50:51 INFO: [Worker 0] [PROFILE] Episode 8 house 2 success=True episode_total=0.64s: + episode_total: mean=48.83s, total=97.66s, count=2, min=2294.6ms, max=95366.1ms + sensor_polling: mean=207.5ms, total=62.24s, count=300, min=191.5ms, max=368.5ms + save_trajectories: mean=6.84s, total=6.84s, count=1, min=6838.1ms, max=6838.1ms + physics_step: mean=14.1ms, total=4.24s, count=300, min=11.8ms, max=17.6ms + save_batch_prep: mean=2.75s, total=2.75s, count=1, min=2745.4ms, max=2745.4ms + task_sampling: mean=322.2ms, total=644.4ms, count=2, min=316.8ms, max=327.6ms + task_specific_sample: mean=319.8ms, total=639.6ms, count=2, min=314.0ms, max=325.7ms + scene_randomize: mean=896.2us, total=1.8ms, count=2, min=0.9ms, max=0.9ms + mj_forward_sync: mean=315.5us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=14.3us, 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 15:50:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:50:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:50:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:52 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:50:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:50:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:50:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013344m [env.py: 870] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:50:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.15998842 -0.66164861 0.01334425] yaw=-190.6deg [env.py: 1019] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.4612058 0.02503712 0.01334425] yaw=-137.0deg [env.py: 1019] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:50:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.7ms, total=139.8ms [env.py: 1075] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.160, -0.662, 0.013) [env.py: 1079] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.6 deg [env.py: 1082] +05/18 15:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:50:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:50:52 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 15:50:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/18 15:50:52 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 15:50:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:50:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:50:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.603s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:50:53 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.420[m] 86.011[deg] [grasp_sample.py: 596] +05/18 15:50:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:50:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:50:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:51:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:51:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:51:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:09 INFO: [Worker 0] Worker 0 house 2 episode 9 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:52:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 15:52:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:52:23 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/18 15:52:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:52:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 15:52:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.72s (batch: 2.86s, save: 6.86s) [pipeline.py: 300] +05/18 15:52:34 INFO: [Worker 0] [PROFILE] Episode 9 house 2 success=True episode_total=0.33s: + episode_total: mean=101.60s, total=101.60s, count=1, min=101597.0ms, max=101597.0ms + sensor_polling: mean=215.6ms, total=62.08s, count=288, min=195.5ms, max=383.5ms + save_trajectories: mean=6.86s, total=6.86s, count=1, min=6858.3ms, max=6858.3ms + physics_step: mean=15.6ms, total=4.49s, count=288, min=11.7ms, max=20.2ms + save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2858.6ms, max=2858.6ms + task_sampling: mean=329.9ms, total=329.9ms, count=1, min=329.9ms, max=329.9ms + task_specific_sample: mean=327.2ms, total=327.2ms, count=1, min=327.2ms, max=327.2ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=336.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:52:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:52:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:35 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:52:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:52:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.088m, effective arm-mount z=0.772m (base_body_z=-0.088m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.088232m [env.py: 870] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.10493578 -0.8451121 -0.08823203] yaw=-158.5deg [env.py: 1019] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.1531577 -1.15161072 -0.08823203] yaw=143.8deg [env.py: 1019] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.22684507 -1.17857256 -0.08823203] yaw=186.4deg [env.py: 1019] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=72.8ms, total=72.8ms [env.py: 1075] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.105, -0.845, -0.088) [env.py: 1079] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg [env.py: 1082] +05/18 15:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/18 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:36 INFO: [Worker 0] Worker 0 house 2 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:36 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 15:52:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:36 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.510[m] 74.545[deg] [grasp_sample.py: 596] +05/18 15:52:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:52:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:52:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:52:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:53:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:53:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:02 INFO: [Worker 0] Worker 0 house 2 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:54:16 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 15:54:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:54:16 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:54:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:54:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 15:54:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 10.04s (batch: 3.02s, save: 7.02s) [pipeline.py: 300] +05/18 15:54:27 INFO: [Worker 0] [PROFILE] Episode 10 house 2 success=True episode_total=0.27s: + episode_total: mean=111.62s, total=111.62s, count=1, min=111620.6ms, max=111620.6ms + sensor_polling: mean=220.3ms, total=66.08s, count=300, min=200.3ms, max=443.4ms + save_trajectories: mean=7.02s, total=7.02s, count=1, min=7020.8ms, max=7020.8ms + physics_step: mean=14.3ms, total=4.29s, count=300, min=11.2ms, max=27.7ms + save_batch_prep: mean=3.02s, total=3.02s, count=1, min=3015.4ms, max=3015.4ms + task_sampling: mean=271.9ms, total=271.9ms, count=1, min=271.9ms, max=271.9ms + task_specific_sample: mean=269.1ms, total=269.1ms, count=1, min=269.1ms, max=269.1ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=340.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:54:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:28 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062718m [env.py: 870] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.03213514 -1.41893264 0.06271817] yaw=128.3deg [env.py: 1019] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 153.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.0084917 -1.13896196 0.06271817] yaw=195.0deg [env.py: 1019] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.5ms, total=148.5ms [env.py: 1075] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.032, -1.419, 0.063) [env.py: 1079] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 128.3 deg [env.py: 1082] +05/18 15:54:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.157m [env.py: 1086] +05/18 15:54:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:29 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:54:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.914s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:54:31 ERROR: [Worker 0] Worker 0 house 2 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:54:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:32 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:32 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 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.049000m [env.py: 870] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09626392 -1.2001866 -0.04899959] yaw=177.3deg [env.py: 1019] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.00360972 -1.27609219 -0.04899959] yaw=177.6deg [env.py: 1019] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.13551638 -0.90280646 -0.04899959] yaw=-161.3deg [env.py: 1019] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.4ms, total=146.4ms [env.py: 1075] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.096, -1.200, -0.049) [env.py: 1079] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg [env.py: 1082] +05/18 15:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.205m [env.py: 1086] +05/18 15:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:32 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:32 INFO: [Worker 0] Worker 0 house 2 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:32 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 15:54:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.932s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:54:34 ERROR: [Worker 0] Worker 0 house 2 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:54:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:54:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:54:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:54:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:36 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:54:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:54:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:54:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.064m, effective arm-mount z=0.796m (base_body_z=-0.064m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.064030m [env.py: 870] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:54:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.27608839 -0.33600628 -0.06403026] yaw=-154.1deg [env.py: 1019] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 146.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.00823618 -1.36977104 -0.06403026] yaw=167.7deg [env.py: 1019] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:54:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=137.2ms, total=137.2ms [env.py: 1075] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.276, -0.336, -0.064) [env.py: 1079] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg [env.py: 1082] +05/18 15:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/18 15:54:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:54:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:54:36 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:54:36 INFO: [Worker 0] Worker 0 house 2 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 15:54:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 15:54:36 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 15:54:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:54:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:54:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.920s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:54:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.668[m] 92.294[deg] [grasp_sample.py: 596] +05/18 15:54:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:54:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:54:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:55:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:55:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:48 INFO: [Worker 0] Worker 0 house 2 episode 13 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:56:03 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 15:56:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:56:03 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:56:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:56:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 15:56:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.74s (batch: 2.89s, save: 6.85s) [pipeline.py: 300] +05/18 15:56:13 INFO: [Worker 0] [PROFILE] Episode 13 house 2 success=True episode_total=0.99s: + episode_total: mean=33.91s, total=101.72s, count=3, min=2352.4ms, max=97000.3ms + sensor_polling: mean=212.8ms, total=63.83s, count=300, min=192.2ms, max=374.6ms + save_trajectories: mean=6.85s, total=6.85s, count=1, min=6850.3ms, max=6850.3ms + physics_step: mean=14.4ms, total=4.32s, count=300, min=10.9ms, max=17.9ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2891.0ms, max=2891.0ms + task_sampling: mean=330.2ms, total=990.6ms, count=3, min=308.1ms, max=349.5ms + task_specific_sample: mean=327.4ms, total=982.2ms, count=3, min=306.1ms, max=345.9ms + scene_randomize: mean=1.5ms, total=4.6ms, count=3, min=0.9ms, max=2.5ms + mj_forward_sync: mean=361.0us, total=1.1ms, count=3, min=0.3ms, max=0.4ms + policy_setup: mean=12.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:56:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:56:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:56:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:56:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:14 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:56:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:56:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:56:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.083m, effective arm-mount z=0.777m (base_body_z=-0.083m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:56:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:56:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:56:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.083309m [env.py: 870] +05/18 15:56:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:56:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.57950187 -0.15713231 -0.08330874] yaw=-116.0deg [env.py: 1019] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.1585992 -0.52183798 -0.08330874] yaw=-165.8deg [env.py: 1019] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 147.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.19963688 -1.20391645 -0.08330874] yaw=181.3deg [env.py: 1019] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:56:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.7ms [env.py: 1075] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.580, -0.157, -0.083) [env.py: 1079] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -116.0 deg [env.py: 1082] +05/18 15:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/18 15:56:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:56:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:56:15 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:56:15 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 15:56:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 15:56:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:56:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.997s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:56:17 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.599[m] 109.224[deg] [grasp_sample.py: 596] +05/18 15:56:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:56:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:56:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:56:52 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 15:56:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:56:52 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 15:56:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:56:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 15:56:54 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.888s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:56:54 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.050[m] 9.375[deg] [grasp_sample.py: 596] +05/18 15:56:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:56:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:56:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:57:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 15:57:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:57:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:06 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.956s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:57:06 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.051[m] 13.179[deg] [grasp_sample.py: 596] +05/18 15:57:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:57:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:57:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:57:16 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 15:57:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:57:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:18 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.950s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:57:18 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.051[m] 6.123[deg] [grasp_sample.py: 596] +05/18 15:57:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:57:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:57:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:57:27 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 15:57:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 15:57:28 INFO: [Worker 0] Worker 0 house 2 episode 14 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:57:28 INFO: [Worker 0] [PROFILE] Episode 14 house 2 success=False episode_total=0.36s: + episode_total: mean=73.19s, total=73.19s, count=1, min=73192.6ms, max=73192.6ms + sensor_polling: mean=217.0ms, total=59.25s, count=273, min=193.4ms, max=367.5ms + physics_step: mean=14.6ms, total=3.99s, count=273, min=12.1ms, max=29.8ms + task_sampling: mean=360.1ms, total=360.1ms, count=1, min=360.1ms, max=360.1ms + task_specific_sample: mean=356.2ms, total=356.2ms, count=1, min=356.2ms, max=356.2ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=345.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:57:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:57:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:57:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:57:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:29 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:57:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:57:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:57:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033006m [env.py: 870] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:57:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.22574754 -0.49564503 0.03300602] yaw=-177.5deg [env.py: 1019] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.08982971 -1.05362327 0.03300602] yaw=173.7deg [env.py: 1019] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.23926514 -0.19601536 0.03300602] yaw=-165.7deg [env.py: 1019] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:57:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=74.7ms, total=74.7ms [env.py: 1075] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.226, -0.496, 0.033) [env.py: 1079] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.5 deg [env.py: 1082] +05/18 15:57:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/18 15:57:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:57:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:57:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:57:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:57:30 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:57:30 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 15:57:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/18 15:57:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:57:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:57:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:57:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.957s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:57:32 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.622[m] 91.910[deg] [grasp_sample.py: 596] +05/18 15:57:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:57:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:57:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:57:32 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 15:58:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:58:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:58:42 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 15:58:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:58:42 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 15:58:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 86 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:49 INFO: [Worker 0] Feasibility-checked 86 grasps in 7.422s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:58:49 INFO: [Worker 0] Feasible grasp found 201 (originally 86): w/ 0.499[m] 118.202[deg] [grasp_sample.py: 596] +05/18 15:58:50 ERROR: [Worker 0] Worker 0 house 2 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:58:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:58:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:58:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:58:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:52 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:58:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:58:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:58:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019729m [env.py: 870] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:58:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.05756663 -1.46466071 0.01972899] yaw=136.7deg [env.py: 1019] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03973885 -0.83966775 0.01972899] yaw=-185.2deg [env.py: 1019] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.23911317 -0.05469062 0.01972899] yaw=-128.4deg [env.py: 1019] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:58:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.9ms, total=98.0ms [env.py: 1075] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.058, -1.465, 0.020) [env.py: 1079] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 136.7 deg [env.py: 1082] +05/18 15:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.155m [env.py: 1086] +05/18 15:58:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:52 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:52 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:52 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 15:58:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.981s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:58:54 ERROR: [Worker 0] Worker 0 house 2 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:58:54 WARNING: [Worker 0] Asset Fridge_m_2 (hash: ced2e34b7080d5dfaeb602c72825d9cf) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 15:58:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:58:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:58:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:58:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:56 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:58:56 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 15:58:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:58:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.017m, effective arm-mount z=0.843m (base_body_z=-0.017m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.016567m [env.py: 870] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:58:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.08459108 -1.01784883 -0.01656669] yaw=201.6deg [env.py: 1019] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.02699802 -0.23103321 -0.01656669] yaw=-118.6deg [env.py: 1019] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.39898091 -0.10448781 -0.01656669] yaw=-102.4deg [env.py: 1019] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:58:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.3ms, total=69.4ms [env.py: 1075] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.085, -1.018, -0.017) [env.py: 1079] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 201.6 deg [env.py: 1082] +05/18 15:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/18 15:58:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:58:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:58:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:58:56 INFO: [Worker 0] Worker 0 house 2 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 15:58:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 15:58:56 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 15:58:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:58:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:58:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.923s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:58:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.781[m] 87.068[deg] [grasp_sample.py: 596] +05/18 15:58:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:58:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:58:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:59:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:08 INFO: [Worker 0] Worker 0 house 2 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:00:22 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:00:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:00:22 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:00:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:00:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:00:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.75s (batch: 2.84s, save: 6.90s) [pipeline.py: 300] +05/18 16:00:32 INFO: [Worker 0] [PROFILE] Episode 17 house 2 success=True episode_total=0.80s: + episode_total: mean=59.83s, total=179.48s, count=3, min=2372.4ms, max=96503.9ms + sensor_polling: mean=214.3ms, total=122.58s, count=572, min=192.6ms, max=391.4ms + physics_step: mean=14.2ms, total=8.13s, count=572, min=10.9ms, max=30.0ms + save_trajectories: mean=6.90s, total=6.90s, count=1, min=6904.8ms, max=6904.8ms + save_batch_prep: mean=2.84s, total=2.84s, count=1, min=2842.0ms, max=2842.0ms + task_sampling: mean=268.0ms, total=804.0ms, count=3, min=246.8ms, max=290.5ms + task_specific_sample: mean=264.8ms, total=794.3ms, count=3, min=243.9ms, max=287.3ms + scene_randomize: mean=1.2ms, total=3.6ms, count=3, min=0.9ms, max=1.7ms + mj_forward_sync: mean=371.1us, total=1.1ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=13.6us, 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 16:00:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:00:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:00:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:00:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:34 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:00:34 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 16:00:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:00:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095089m [env.py: 870] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:00:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.06753928 -0.89456302 0.09508904] yaw=-189.6deg [env.py: 1019] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.29098222 0.08307328 0.09508904] yaw=-149.1deg [env.py: 1019] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03595339 -1.45100614 0.09508904] yaw=137.8deg [env.py: 1019] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:00:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.0ms [env.py: 1075] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.068, -0.895, 0.095) [env.py: 1079] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -189.6 deg [env.py: 1082] +05/18 16:00:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/18 16:00:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:00:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:00:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:00:34 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:00:34 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:00:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 16:00:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:00:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:00:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:00:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.612s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:00:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.566[m] 103.575[deg] [grasp_sample.py: 596] +05/18 16:00:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:00:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:00:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:01:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:01:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:01:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:01:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:01:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:01:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:01:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.834s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:01:10 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.172[m] 11.851[deg] [grasp_sample.py: 596] +05/18 16:01:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:01:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:01:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:01:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:01:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:03 INFO: [Worker 0] Worker 0 house 2 episode 18 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:02:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:02:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:02:17 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:02:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:02:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:02:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.64s (batch: 2.64s, save: 7.00s) [pipeline.py: 300] +05/18 16:02:27 INFO: [Worker 0] [PROFILE] Episode 18 house 2 success=True episode_total=0.32s: + episode_total: mean=112.97s, total=112.97s, count=1, min=112966.7ms, max=112966.7ms + sensor_polling: mean=219.8ms, total=65.94s, count=300, min=201.6ms, max=371.2ms + save_trajectories: mean=7.00s, total=7.00s, count=1, min=7004.5ms, max=7004.5ms + physics_step: mean=13.7ms, total=4.12s, count=300, min=10.9ms, max=19.0ms + save_batch_prep: mean=2.64s, total=2.64s, count=1, min=2635.2ms, max=2635.2ms + task_sampling: mean=321.1ms, total=321.1ms, count=1, min=321.1ms, max=321.1ms + task_specific_sample: mean=318.2ms, total=318.2ms, count=1, min=318.2ms, max=318.2ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=347.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:02:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:02:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:29 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:02:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:02:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040117m [env.py: 870] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04526518 -1.4915958 -0.04011654] yaw=142.1deg [env.py: 1019] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.21116888 0.03639028 -0.04011654] yaw=-129.2deg [env.py: 1019] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06788232 -1.30620574 -0.04011654] yaw=139.3deg [env.py: 1019] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.0ms, total=97.0ms [env.py: 1075] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.045, -1.492, -0.040) [env.py: 1079] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.1 deg [env.py: 1082] +05/18 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.259m [env.py: 1086] +05/18 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:29 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 16:02:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:02:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.985s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:02:31 ERROR: [Worker 0] Worker 0 house 2 episode 19 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:02:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:02:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:33 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:02:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:02:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047817m [env.py: 870] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14858902 -0.69325109 -0.04781689] yaw=-197.7deg [env.py: 1019] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.08960896 -1.30686227 -0.04781689] yaw=142.7deg [env.py: 1019] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.12369565 -0.03565269 -0.04781689] yaw=-112.6deg [env.py: 1019] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.6ms, total=143.6ms [env.py: 1075] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.149, -0.693, -0.048) [env.py: 1079] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -197.7 deg [env.py: 1082] +05/18 16:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.243m [env.py: 1086] +05/18 16:02:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:33 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/18 16:02:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:02:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.986s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:02:35 ERROR: [Worker 0] Worker 0 house 2 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:02:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:02:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:37 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:02:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:02:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041482m [env.py: 870] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 139.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.32964864 -0.38525615 -0.04148165] yaw=-126.7deg [env.py: 1019] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.12993141 -1.41905656 -0.04148165] yaw=147.5deg [env.py: 1019] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.10516576 -0.06052977 -0.04148165] yaw=-127.4deg [env.py: 1019] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.6ms, total=119.6ms [env.py: 1075] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.330, -0.385, -0.041) [env.py: 1079] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.7 deg [env.py: 1082] +05/18 16:02:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/18 16:02:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:37 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 16:02:37 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 16:02:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:02:38 INFO: [Worker 0] Feasible grasp found 151 (originally 36): w/ 0.683[m] 112.318[deg] [grasp_sample.py: 596] +05/18 16:02:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:02:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:02:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:38 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 16:03:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:03:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:46 INFO: [Worker 0] Worker 0 house 2 episode 21 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:04:01 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:04:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:04:01 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:04:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:04:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:04:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.74s (batch: 2.77s, save: 6.96s) [pipeline.py: 300] +05/18 16:04:11 INFO: [Worker 0] [PROFILE] Episode 21 house 2 success=True episode_total=0.92s: + episode_total: mean=33.10s, total=99.29s, count=3, min=2405.1ms, max=94476.9ms + sensor_polling: mean=210.3ms, total=63.09s, count=300, min=185.0ms, max=376.4ms + save_trajectories: mean=6.96s, total=6.96s, count=1, min=6963.7ms, max=6963.7ms + physics_step: mean=13.7ms, total=4.10s, count=300, min=10.9ms, max=16.5ms + save_batch_prep: mean=2.77s, total=2.77s, count=1, min=2772.1ms, max=2772.1ms + task_sampling: mean=308.0ms, total=923.9ms, count=3, min=289.1ms, max=322.8ms + task_specific_sample: mean=305.4ms, total=916.3ms, count=3, min=287.0ms, max=320.2ms + scene_randomize: mean=1.2ms, total=3.6ms, count=3, min=0.9ms, max=1.8ms + mj_forward_sync: mean=352.1us, total=1.1ms, count=3, min=0.3ms, max=0.4ms + policy_setup: mean=15.1us, 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 16:04:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:04:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:04:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:04:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:12 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:04:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:04:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:04:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.094m, effective arm-mount z=0.766m (base_body_z=-0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.093664m [env.py: 870] +05/18 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:04:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.18367967 -0.7147658 -0.09366397] yaw=-179.0deg [env.py: 1019] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.14703082 -0.38064639 -0.09366397] yaw=-169.5deg [env.py: 1019] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.33886643 -0.47899996 -0.09366397] yaw=-146.8deg [env.py: 1019] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:04:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.1ms, total=87.1ms [env.py: 1075] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.184, -0.715, -0.094) [env.py: 1079] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.0 deg [env.py: 1082] +05/18 16:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/18 16:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:04:13 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:04:13 INFO: [Worker 0] Worker 0 house 2 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:04:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/18 16:04:13 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 16:04:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:04:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:04:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:04:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.539[m] 99.515[deg] [grasp_sample.py: 596] +05/18 16:04:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:04:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:04:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:04:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:04:43 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:04:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:24 INFO: [Worker 0] Worker 0 house 2 episode 22 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:05:38 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:05:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:05:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:05:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:05:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:05:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 10.22s (batch: 2.89s, save: 7.33s) [pipeline.py: 300] +05/18 16:05:49 INFO: [Worker 0] [PROFILE] Episode 22 house 2 success=True episode_total=0.29s: + episode_total: mean=96.73s, total=96.73s, count=1, min=96734.0ms, max=96734.0ms + sensor_polling: mean=215.5ms, total=64.64s, count=300, min=192.1ms, max=436.6ms + save_trajectories: mean=7.33s, total=7.33s, count=1, min=7332.4ms, max=7332.4ms + physics_step: mean=13.7ms, total=4.11s, count=300, min=12.7ms, max=15.5ms + save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2885.8ms, max=2885.8ms + task_sampling: mean=292.1ms, total=292.1ms, count=1, min=292.1ms, max=292.1ms + task_specific_sample: mean=288.9ms, total=288.9ms, count=1, min=288.9ms, max=288.9ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=329.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=15.2us, 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 16:05:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:05:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:51 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:05:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:05:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053508m [env.py: 870] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.38640945 -0.14333791 0.05350834] yaw=-144.7deg [env.py: 1019] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02308679 -0.34140467 0.05350834] yaw=-151.7deg [env.py: 1019] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19378411 -0.73948097 0.05350834] yaw=-197.4deg [env.py: 1019] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.0ms, total=85.0ms [env.py: 1075] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.386, -0.143, 0.054) [env.py: 1079] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.7 deg [env.py: 1082] +05/18 16:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m [env.py: 1086] +05/18 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:51 INFO: [Worker 0] Worker 0 house 2 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:51 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 16:05:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:05:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.941s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:05:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.741[m] 79.640[deg] [grasp_sample.py: 596] +05/18 16:05:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:05:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:05:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:06:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:06:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:06:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:06:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:06:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:06:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:06:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:06:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:06:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:06:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:06:53 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 16:06:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:06:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:06:55 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.854s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:06:55 ERROR: [Worker 0] Worker 0 house 2 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:06:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:06:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:06:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:06:57 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 16:06:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:06:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036518m [env.py: 870] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:06:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.02925242 -0.2401474 -0.03651794] yaw=-122.7deg [env.py: 1019] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.14490197 -1.30637418 -0.03651794] yaw=140.7deg [env.py: 1019] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.09021583 -0.07150733 -0.03651794] yaw=-146.2deg [env.py: 1019] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:06:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.1ms, total=142.1ms [env.py: 1075] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.029, -0.240, -0.037) [env.py: 1079] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.7 deg [env.py: 1082] +05/18 16:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.245m [env.py: 1086] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:06:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:06:57 INFO: [Worker 0] Worker 0 house 2 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 16:06:57 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 16:06:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:06:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:06:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.892s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:06:59 ERROR: [Worker 0] Worker 0 house 2 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:07:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:07:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:07:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:00 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:07:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:07:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:07:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096863m [env.py: 870] +05/18 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:07:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.03565126 -0.99804596 0.09686327] yaw=191.2deg [env.py: 1019] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00694067 -0.47443602 0.09686327] yaw=-179.1deg [env.py: 1019] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:07:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.1ms, total=144.1ms [env.py: 1075] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.036, -0.998, 0.097) [env.py: 1079] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 191.2 deg [env.py: 1082] +05/18 16:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.113m [env.py: 1086] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:07:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:07:01 INFO: [Worker 0] Worker 0 house 2 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:07:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:07:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:07:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:07:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:07:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.003s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:07:03 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.727[m] 102.014[deg] [grasp_sample.py: 596] +05/18 16:07:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:07:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:07:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:07:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:07:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:07:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:08:23 INFO: [Worker 0] Worker 0 house 2 episode 25 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:08:38 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:08:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:08:38 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:08:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:08:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:08:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.62s (batch: 2.86s, save: 6.76s) [pipeline.py: 300] +05/18 16:08:48 INFO: [Worker 0] [PROFILE] Episode 25 house 2 success=True episode_total=0.93s: + episode_total: mean=57.94s, total=173.83s, count=3, min=2306.0ms, max=107197.2ms + sensor_polling: mean=215.7ms, total=113.03s, count=524, min=194.0ms, max=438.2ms + physics_step: mean=13.8ms, total=7.24s, count=524, min=10.9ms, max=19.5ms + save_trajectories: mean=6.76s, total=6.76s, count=1, min=6764.1ms, max=6764.1ms + save_batch_prep: mean=2.86s, total=2.86s, count=1, min=2858.0ms, max=2858.0ms + task_sampling: mean=311.5ms, total=934.5ms, count=3, min=283.3ms, max=327.6ms + task_specific_sample: mean=308.5ms, total=925.6ms, count=3, min=279.9ms, max=325.3ms + scene_randomize: mean=1.4ms, total=4.1ms, count=3, min=0.9ms, max=2.3ms + mj_forward_sync: mean=328.3us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=14.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:08:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:08:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:49 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:08:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:08:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.085m, effective arm-mount z=0.775m (base_body_z=-0.085m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.084540m [env.py: 870] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18963365 -1.12509812 -0.08454017] yaw=163.7deg [env.py: 1019] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.09190206 -0.75366802 -0.08454017] yaw=-166.8deg [env.py: 1019] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.02240689 -0.63176088 -0.08454017] yaw=-154.4deg [env.py: 1019] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.0ms [env.py: 1075] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.190, -1.125, -0.085) [env.py: 1079] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.7 deg [env.py: 1082] +05/18 16:08:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/18 16:08:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:49 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:49 INFO: [Worker 0] Worker 0 house 2 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:49 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 16:08:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.600s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:08:50 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.535[m] 103.053[deg] [grasp_sample.py: 596] +05/18 16:08:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:08:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:08:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:51 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 16:09:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:09:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:09:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:09:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:09:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:09:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:09:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:34 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.329s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:09:34 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.038[m] 8.723[deg] [grasp_sample.py: 596] +05/18 16:09:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:09:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:09:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:09:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:15 INFO: [Worker 0] Worker 0 house 2 episode 26 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:10:30 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:10:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:10:30 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:10:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:10:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:10:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 10.13s (batch: 2.97s, save: 7.16s) [pipeline.py: 300] +05/18 16:10:41 INFO: [Worker 0] [PROFILE] Episode 26 house 2 success=True episode_total=0.31s: + episode_total: mean=111.39s, total=111.39s, count=1, min=111394.4ms, max=111394.4ms + sensor_polling: mean=217.8ms, total=65.33s, count=300, min=197.3ms, max=381.4ms + save_trajectories: mean=7.16s, total=7.16s, count=1, min=7160.8ms, max=7160.8ms + physics_step: mean=14.3ms, total=4.29s, count=300, min=10.0ms, max=26.6ms + save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2974.1ms, max=2974.1ms + task_sampling: mean=313.8ms, total=313.8ms, count=1, min=313.8ms, max=313.8ms + task_specific_sample: mean=310.0ms, total=310.0ms, count=1, min=310.0ms, max=310.0ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=335.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=12.8us, 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 16:10:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:10:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:10:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:42 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:10:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:10:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:10:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.074m, effective arm-mount z=0.786m (base_body_z=-0.074m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.074136m [env.py: 870] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:10:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.05056441 -0.77144152 -0.0741358 ] yaw=-149.9deg [env.py: 1019] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.02095699 -1.15519992 -0.0741358 ] yaw=142.0deg [env.py: 1019] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.34757006 0.04606662 -0.0741358 ] yaw=-142.0deg [env.py: 1019] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:10:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.2ms, total=129.2ms [env.py: 1075] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.051, -0.771, -0.074) [env.py: 1079] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.9 deg [env.py: 1082] +05/18 16:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:10:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:10:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:10:42 INFO: [Worker 0] Worker 0 house 2 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:10:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 16:10:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:10:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:10:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:10:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.001s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:10:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.663[m] 119.891[deg] [grasp_sample.py: 596] +05/18 16:10:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:10:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:10:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:45 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 16:11:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:11:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:54 INFO: [Worker 0] Worker 0 house 2 episode 27 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:12:08 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:12:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:12:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:12:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:12:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:12:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.67s (batch: 2.78s, save: 6.90s) [pipeline.py: 300] +05/18 16:12:19 INFO: [Worker 0] [PROFILE] Episode 27 house 2 success=True episode_total=0.32s: + episode_total: mean=96.51s, total=96.51s, count=1, min=96511.4ms, max=96511.4ms + sensor_polling: mean=212.1ms, total=63.63s, count=300, min=190.9ms, max=406.9ms + save_trajectories: mean=6.90s, total=6.90s, count=1, min=6897.2ms, max=6897.2ms + physics_step: mean=13.8ms, total=4.14s, count=300, min=11.0ms, max=20.5ms + save_batch_prep: mean=2.78s, total=2.78s, count=1, min=2775.4ms, max=2775.4ms + task_sampling: mean=324.2ms, total=324.2ms, count=1, min=324.2ms, max=324.2ms + task_specific_sample: mean=321.1ms, total=321.1ms, count=1, min=321.1ms, max=321.1ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=389.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:12:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:12:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:20 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:12:20 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 16:12:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005894m [env.py: 870] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.1861915 -0.40554868 0.00589432] yaw=-176.9deg [env.py: 1019] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.31788717 0.07136809 0.00589432] yaw=-131.6deg [env.py: 1019] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.12284362 -1.08956942 0.00589432] yaw=163.5deg [env.py: 1019] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.6ms, total=94.7ms [env.py: 1075] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.186, -0.406, 0.006) [env.py: 1079] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg [env.py: 1082] +05/18 16:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/18 16:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:20 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:20 INFO: [Worker 0] Worker 0 house 2 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:12:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.141s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.651[m] 96.621[deg] [grasp_sample.py: 596] +05/18 16:12:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:12:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:12:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:12:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:12:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:33 INFO: [Worker 0] Worker 0 house 2 episode 28 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:13:47 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:13:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:13:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:13:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:13:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:13:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.81s (batch: 2.75s, save: 7.06s) [pipeline.py: 300] +05/18 16:13:57 INFO: [Worker 0] [PROFILE] Episode 28 house 2 success=True episode_total=0.29s: + episode_total: mean=96.82s, total=96.82s, count=1, min=96816.6ms, max=96816.6ms + sensor_polling: mean=213.9ms, total=64.17s, count=300, min=194.9ms, max=362.6ms + save_trajectories: mean=7.06s, total=7.06s, count=1, min=7058.7ms, max=7058.7ms + physics_step: mean=14.2ms, total=4.26s, count=300, min=11.2ms, max=19.4ms + save_batch_prep: mean=2.75s, total=2.75s, count=1, min=2752.5ms, max=2752.5ms + task_sampling: mean=288.7ms, total=288.7ms, count=1, min=288.7ms, max=288.7ms + task_specific_sample: mean=285.0ms, total=285.0ms, count=1, min=285.0ms, max=285.0ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=327.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:13:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:13:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:13:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:58 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:13:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:13:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:13:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.099m, effective arm-mount z=0.761m (base_body_z=-0.099m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098747m [env.py: 870] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:13:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20232102 -0.90734241 -0.09874737] yaw=-193.8deg [env.py: 1019] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.04794339 -0.2362367 -0.09874737] yaw=-156.8deg [env.py: 1019] +05/18 16:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21221827 -0.79158601 -0.09874737] yaw=-159.9deg [env.py: 1019] +05/18 16:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:13:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.3ms, total=96.3ms [env.py: 1075] +05/18 16:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -0.907, -0.099) [env.py: 1079] +05/18 16:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -193.8 deg [env.py: 1082] +05/18 16:13:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.277m [env.py: 1086] +05/18 16:13:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:13:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:13:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:13:59 INFO: [Worker 0] Worker 0 house 2 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:13:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 16:13:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:13:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:13:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.859s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:14:01 ERROR: [Worker 0] Worker 0 house 2 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:14:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:14:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:02 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:14:02 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 16:14:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.080m, effective arm-mount z=0.940m (base_body_z=0.080m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079729m [env.py: 870] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0594901 -0.29795413 0.0797295 ] yaw=-150.3deg [env.py: 1019] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.12726808 -0.79510214 0.0797295 ] yaw=-162.8deg [env.py: 1019] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=143.8ms, total=143.8ms [env.py: 1075] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.059, -0.298, 0.080) [env.py: 1079] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.3 deg [env.py: 1082] +05/18 16:14:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.291m [env.py: 1086] +05/18 16:14:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:02 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:02 INFO: [Worker 0] Worker 0 house 2 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:03 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 16:14:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.988s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:14:05 ERROR: [Worker 0] Worker 0 house 2 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:14:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:14:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:14:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:06 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:14:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:14:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:14:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071194m [env.py: 870] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:14:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 112.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.04326918 -1.13422035 0.07119449] yaw=166.4deg [env.py: 1019] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.28930764 -0.58269382 0.07119449] yaw=-158.3deg [env.py: 1019] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17910145 -0.87433424 0.07119449] yaw=-191.8deg [env.py: 1019] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:14:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.6ms, total=111.6ms [env.py: 1075] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.043, -1.134, 0.071) [env.py: 1079] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.4 deg [env.py: 1082] +05/18 16:14:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:14:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:14:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:14:06 INFO: [Worker 0] Worker 0 house 2 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 16:14:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 16:14:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:14:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:14:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:14:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.093s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:14:08 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.678[m] 68.917[deg] [grasp_sample.py: 596] +05/18 16:14:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:14:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:14:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:14:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:14:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:15:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:15:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:15:24 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 16:15:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:24 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.404s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:15:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.039[m] 8.992[deg] [grasp_sample.py: 596] +05/18 16:15:25 ERROR: [Worker 0] Worker 0 house 2 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:15:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:26 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:26 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 16:15:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.057m, effective arm-mount z=0.803m (base_body_z=-0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.057157m [env.py: 870] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.21936741 -1.33799303 -0.05715699] yaw=144.5deg [env.py: 1019] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.13854453 -0.74293246 -0.05715699] yaw=-142.7deg [env.py: 1019] +05/18 16:15:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.17850491 -0.57552743 -0.05715699] yaw=-132.4deg [env.py: 1019] +05/18 16:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.4ms, total=83.5ms [env.py: 1075] +05/18 16:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.219, -1.338, -0.057) [env.py: 1079] +05/18 16:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.5 deg [env.py: 1082] +05/18 16:15:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/18 16:15:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:27 INFO: [Worker 0] Worker 0 house 2 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:27 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 16:15:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.699s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:15:27 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.547[m] 102.107[deg] [grasp_sample.py: 596] +05/18 16:15:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:15:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:15:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:15:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:15:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:16:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:40 INFO: [Worker 0] Worker 0 house 2 episode 32 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:16:54 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:16:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:16:54 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:17:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:17:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:17:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.77s (batch: 2.75s, save: 7.02s) [pipeline.py: 300] +05/18 16:17:05 INFO: [Worker 0] [PROFILE] Episode 32 house 2 success=True episode_total=1.17s: + episode_total: mean=45.43s, total=181.71s, count=4, min=2257.0ms, max=98264.4ms + sensor_polling: mean=216.1ms, total=124.68s, count=577, min=196.3ms, max=419.7ms + physics_step: mean=13.8ms, total=7.94s, count=577, min=11.1ms, max=17.5ms + save_trajectories: mean=7.02s, total=7.02s, count=1, min=7024.4ms, max=7024.4ms + save_batch_prep: mean=2.75s, total=2.75s, count=1, min=2746.9ms, max=2746.9ms + task_sampling: mean=292.5ms, total=1.17s, count=4, min=269.2ms, max=321.7ms + task_specific_sample: mean=290.1ms, total=1.16s, count=4, min=267.2ms, max=319.4ms + scene_randomize: mean=1.2ms, total=4.9ms, count=4, min=0.8ms, max=2.3ms + mj_forward_sync: mean=324.3us, total=1.3ms, count=4, min=0.3ms, max=0.3ms + policy_setup: mean=12.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:17:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:06 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014823m [env.py: 870] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -113.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21664405 -1.02073903 0.01482299] yaw=190.7deg [env.py: 1019] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.47764393 -0.28830023 0.01482299] yaw=-130.9deg [env.py: 1019] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=146.5ms, total=146.5ms [env.py: 1075] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -1.021, 0.015) [env.py: 1079] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 190.7 deg [env.py: 1082] +05/18 16:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.295m [env.py: 1086] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:06 INFO: [Worker 0] Worker 0 house 2 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.864s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:08 ERROR: [Worker 0] Worker 0 house 2 episode 33 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=-0.031m, effective arm-mount z=0.829m (base_body_z=-0.031m, 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: -0.031393m [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 161.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 137.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.02238085 -1.35917082 -0.03139255] yaw=169.5deg [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 8: pos=[-0.01041657 -1.07668545 -0.03139255] yaw=177.0deg [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] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=132.9ms, total=132.9ms [env.py: 1075] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.022, -1.359, -0.031) [env.py: 1079] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg [env.py: 1082] +05/18 16:17:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.183m [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 16:17:10 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:10 INFO: [Worker 0] Worker 0 house 2 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:10 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 16:17:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.918s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:12 ERROR: [Worker 0] Worker 0 house 2 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:14 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.004m, effective arm-mount z=0.856m (base_body_z=-0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.003996m [env.py: 870] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.5257218 -0.06221952 -0.00399634] yaw=-150.1deg [env.py: 1019] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02023903 -1.15598095 -0.00399634] yaw=171.1deg [env.py: 1019] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.15380973 -1.23349422 -0.00399634] yaw=187.6deg [env.py: 1019] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.7ms [env.py: 1075] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.526, -0.062, -0.004) [env.py: 1079] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.1 deg [env.py: 1082] +05/18 16:17:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/18 16:17:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:14 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:14 INFO: [Worker 0] Worker 0 house 2 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.904s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:17:16 ERROR: [Worker 0] Worker 0 house 2 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:17:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:17:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:17:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:17:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:17 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:17:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:17:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:17:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047588m [env.py: 870] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:17:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.40221723 -0.3683263 0.0475882 ] yaw=-113.1deg [env.py: 1019] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05121926 -0.73996303 0.0475882 ] yaw=-177.2deg [env.py: 1019] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.17281751 -0.31909362 0.0475882 ] yaw=-157.9deg [env.py: 1019] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:17:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.8ms, total=99.8ms [env.py: 1075] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.402, -0.368, 0.048) [env.py: 1079] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.1 deg [env.py: 1082] +05/18 16:17:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/18 16:17:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:17:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:17:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:17:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:17:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:17:18 INFO: [Worker 0] Worker 0 house 2 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 16:17:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 16:17:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:17:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:17:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.034s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:17:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:17:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.645[m] 105.561[deg] [grasp_sample.py: 596] +05/18 16:17:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:17:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:17:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:18:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:32 INFO: [Worker 0] Worker 0 house 2 episode 36 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:18:47 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:18:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:18:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:18:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:18:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:18:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.91s (batch: 2.85s, save: 7.06s) [pipeline.py: 300] +05/18 16:18:58 INFO: [Worker 0] [PROFILE] Episode 36 house 2 success=True episode_total=1.23s: + episode_total: mean=26.80s, total=107.21s, count=4, min=2294.2ms, max=100280.3ms + sensor_polling: mean=225.9ms, total=67.76s, count=300, min=198.7ms, max=468.6ms + save_trajectories: mean=7.06s, total=7.06s, count=1, min=7058.9ms, max=7058.9ms + physics_step: mean=14.9ms, total=4.46s, count=300, min=12.7ms, max=20.5ms + save_batch_prep: mean=2.85s, total=2.85s, count=1, min=2847.4ms, max=2847.4ms + task_sampling: mean=306.4ms, total=1.23s, count=4, min=268.8ms, max=348.3ms + task_specific_sample: mean=303.6ms, total=1.21s, count=4, min=265.5ms, max=344.9ms + scene_randomize: mean=1.6ms, total=6.4ms, count=4, min=0.9ms, max=2.3ms + mj_forward_sync: mean=328.6us, total=1.3ms, count=4, min=0.3ms, max=0.4ms + policy_setup: mean=13.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:18:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:18:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:18:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:18:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:59 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:18:59 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 16:18:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:18:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.089m, effective arm-mount z=0.771m (base_body_z=-0.089m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.089064m [env.py: 870] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:18:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 159.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 150.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12999468 -0.53771936 -0.08906377] yaw=-158.7deg [env.py: 1019] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06343906 -0.59944508 -0.08906377] yaw=-151.0deg [env.py: 1019] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.33116535 -0.35895463 -0.08906377] yaw=-160.0deg [env.py: 1019] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:18:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.7ms, total=122.7ms [env.py: 1075] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.130, -0.538, -0.089) [env.py: 1079] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.7 deg [env.py: 1082] +05/18 16:18:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.262m [env.py: 1086] +05/18 16:18:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:18:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:18:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:18:59 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:18:59 INFO: [Worker 0] Worker 0 house 2 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 16:18:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s [base_object_manipulation_planner_policy.py: 377] +05/18 16:18:59 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 16:18:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:18:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.893s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:19:01 ERROR: [Worker 0] Worker 0 house 2 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:19:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:03 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:03 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 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007334m [env.py: 870] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 139.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.13828894 -1.24994624 0.00733445] yaw=140.0deg [env.py: 1019] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=136.6ms, total=136.6ms [env.py: 1075] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.138, -1.250, 0.007) [env.py: 1079] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 140.0 deg [env.py: 1082] +05/18 16:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.258m [env.py: 1086] +05/18 16:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:03 INFO: [Worker 0] Worker 0 house 2 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:03 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 16:19:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.868s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:19:05 ERROR: [Worker 0] Worker 0 house 2 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:19:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:07 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013010m [env.py: 870] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.22067085 -0.80439293 -0.0130095 ] yaw=-178.5deg [env.py: 1019] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.0ms, total=138.0ms [env.py: 1075] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.221, -0.804, -0.013) [env.py: 1079] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.5 deg [env.py: 1082] +05/18 16:19:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:07 INFO: [Worker 0] Worker 0 house 2 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:19:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.654s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 93.320[deg] [grasp_sample.py: 596] +05/18 16:19:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:19:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:35 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:19:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:20 INFO: [Worker 0] Worker 0 house 2 episode 39 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:20:36 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:20:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:20:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:20:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:20:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:20:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 10.25s (batch: 2.87s, save: 7.38s) [pipeline.py: 300] +05/18 16:20:47 INFO: [Worker 0] [PROFILE] Episode 39 house 2 success=True episode_total=0.94s: + episode_total: mean=34.83s, total=104.48s, count=3, min=2270.8ms, max=99887.6ms + sensor_polling: mean=222.3ms, total=66.68s, count=300, min=192.9ms, max=451.3ms + save_trajectories: mean=7.38s, total=7.38s, count=1, min=7380.9ms, max=7380.9ms + physics_step: mean=14.5ms, total=4.34s, count=300, min=11.0ms, max=18.7ms + save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2873.1ms, max=2873.1ms + task_sampling: mean=312.2ms, total=936.7ms, count=3, min=308.9ms, max=317.4ms + task_specific_sample: mean=309.6ms, total=928.7ms, count=3, min=305.7ms, max=314.4ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=0.8ms, max=1.9ms + mj_forward_sync: mean=327.6us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=13.1us, 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 16:20:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:20:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:20:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:48 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:20:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:20:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:20:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065640m [env.py: 870] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:20:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.13586052 -1.25632683 0.06564034] yaw=137.6deg [env.py: 1019] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.01439061 -0.62725948 0.06564034] yaw=-186.7deg [env.py: 1019] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.15269639 -0.36827035 0.06564034] yaw=-152.8deg [env.py: 1019] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:20:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.9ms, total=74.0ms [env.py: 1075] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.136, -1.256, 0.066) [env.py: 1079] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 137.6 deg [env.py: 1082] +05/18 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/18 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:20:48 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:20:48 INFO: [Worker 0] Worker 0 house 2 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 16:20:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/18 16:20:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:20:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:20:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:20:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.580s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:20:50 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.693[m] 76.911[deg] [grasp_sample.py: 596] +05/18 16:20:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:20:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:20:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:21:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:21:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:21:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:13 INFO: [Worker 0] Worker 0 house 2 episode 40 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:22:28 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:22:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:22:28 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:22:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:22:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:22:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.60s (batch: 2.82s, save: 6.78s) [pipeline.py: 300] +05/18 16:22:38 INFO: [Worker 0] [PROFILE] Episode 40 house 2 success=True episode_total=0.27s: + episode_total: mean=110.29s, total=110.29s, count=1, min=110292.4ms, max=110292.4ms + sensor_polling: mean=219.1ms, total=65.73s, count=300, min=195.3ms, max=430.1ms + save_trajectories: mean=6.78s, total=6.78s, count=1, min=6780.8ms, max=6780.8ms + physics_step: mean=14.5ms, total=4.34s, count=300, min=11.0ms, max=25.7ms + save_batch_prep: mean=2.82s, total=2.82s, count=1, min=2815.7ms, max=2815.7ms + task_sampling: mean=270.3ms, total=270.3ms, count=1, min=270.3ms, max=270.3ms + task_specific_sample: mean=267.6ms, total=267.6ms, count=1, min=267.6ms, max=267.6ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=356.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:22:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:22:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:22:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:40 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:22:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:22:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:22:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.059m, effective arm-mount z=0.801m (base_body_z=-0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.059181m [env.py: 870] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:22:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.36435043 -0.44670115 -0.0591815 ] yaw=-126.3deg [env.py: 1019] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.28188074 0.0495173 -0.0591815 ] yaw=-125.3deg [env.py: 1019] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00626301 -0.75639367 -0.0591815 ] yaw=-154.2deg [env.py: 1019] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:22:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.5ms, total=81.5ms [env.py: 1075] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.364, -0.447, -0.059) [env.py: 1079] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg [env.py: 1082] +05/18 16:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:22:40 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:22:40 INFO: [Worker 0] Worker 0 house 2 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 16:22:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/18 16:22:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:22:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:22:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:22:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.648s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:22:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 91.514[deg] [grasp_sample.py: 596] +05/18 16:22:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:22:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:22:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:23:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:23:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:50 INFO: [Worker 0] Worker 0 house 2 episode 41 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:24:05 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:24:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:24:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:24:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:24:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:24:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.83s (batch: 2.82s, save: 7.01s) [pipeline.py: 300] +05/18 16:24:16 INFO: [Worker 0] [PROFILE] Episode 41 house 2 success=True episode_total=0.29s: + episode_total: mean=95.92s, total=95.92s, count=1, min=95920.7ms, max=95920.7ms + sensor_polling: mean=210.5ms, total=63.16s, count=300, min=192.8ms, max=444.6ms + save_trajectories: mean=7.01s, total=7.01s, count=1, min=7011.2ms, max=7011.2ms + physics_step: mean=14.3ms, total=4.30s, count=300, min=11.6ms, max=23.9ms + save_batch_prep: mean=2.82s, total=2.82s, count=1, min=2815.0ms, max=2815.0ms + task_sampling: mean=293.8ms, total=293.8ms, count=1, min=293.8ms, max=293.8ms + task_specific_sample: mean=290.8ms, total=290.8ms, count=1, min=290.8ms, max=290.8ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=330.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=13.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:24:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:24:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:17 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:24:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.043m, effective arm-mount z=0.817m (base_body_z=-0.043m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.042684m [env.py: 870] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.37838162 -0.12233603 -0.04268422] yaw=-129.7deg [env.py: 1019] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.53440831 -0.12980572 -0.04268422] yaw=-137.2deg [env.py: 1019] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.04808165 -1.03969745 -0.04268422] yaw=195.7deg [env.py: 1019] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.5ms, total=121.6ms [env.py: 1075] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.378, -0.122, -0.043) [env.py: 1079] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.7 deg [env.py: 1082] +05/18 16:24:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m [env.py: 1086] +05/18 16:24:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:18 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:18 INFO: [Worker 0] Worker 0 house 2 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:24:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.602s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:24:21 ERROR: [Worker 0] Worker 0 house 2 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:24:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:24:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:24:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:23 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:24:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:24:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:24:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014305m [env.py: 870] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:24:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.30691188 -0.29921424 0.01430455] yaw=-150.9deg [env.py: 1019] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.23752311 -0.55339963 0.01430455] yaw=-184.8deg [env.py: 1019] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.22856034 -1.23857547 0.01430455] yaw=178.5deg [env.py: 1019] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:24:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.5ms, total=124.5ms [env.py: 1075] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.307, -0.299, 0.014) [env.py: 1079] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.9 deg [env.py: 1082] +05/18 16:24:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/18 16:24:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:24:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:24:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:24:23 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:24:23 INFO: [Worker 0] Worker 0 house 2 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 16:24:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/18 16:24:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:24:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:24:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:24:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.061s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:24:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.568[m] 89.455[deg] [grasp_sample.py: 596] +05/18 16:24:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:24:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:24:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:24:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:24:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:25:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:25:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:25:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:25:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:25:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:25:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:25:37 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 16:25:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:25:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:25:38 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.875s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:25:38 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.109[m] 0.331[deg] [grasp_sample.py: 596] +05/18 16:25:39 ERROR: [Worker 0] Worker 0 house 2 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:25:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:25:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:25:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:25:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:25:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:25:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.076m, effective arm-mount z=0.784m (base_body_z=-0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.075564m [env.py: 870] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:25:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.10946357 -1.37306725 -0.07556357] yaw=166.5deg [env.py: 1019] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10294059 -0.57966771 -0.07556357] yaw=-143.4deg [env.py: 1019] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.40726061 -0.37369403 -0.07556357] yaw=-152.6deg [env.py: 1019] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:25:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.4ms, total=140.4ms [env.py: 1075] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.109, -1.373, -0.076) [env.py: 1079] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.5 deg [env.py: 1082] +05/18 16:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/18 16:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:25:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:25:41 INFO: [Worker 0] Worker 0 house 2 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 16:25:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:25:41 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 16:25:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:25:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:25:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.968s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:25:43 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.596[m] 86.694[deg] [grasp_sample.py: 596] +05/18 16:25:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:25:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:25:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:25:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:26:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:26:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:59 INFO: [Worker 0] Worker 0 house 2 episode 44 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:27:13 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:27:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:27:13 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:27:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:27:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:27:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.92s (batch: 2.88s, save: 7.03s) [pipeline.py: 300] +05/18 16:27:24 INFO: [Worker 0] [PROFILE] Episode 44 house 2 success=True episode_total=0.94s: + episode_total: mean=61.17s, total=183.52s, count=3, min=4033.2ms, max=103042.6ms + sensor_polling: mean=213.7ms, total=122.90s, count=575, min=194.2ms, max=425.7ms + physics_step: mean=14.0ms, total=8.06s, count=575, min=10.9ms, max=19.4ms + save_trajectories: mean=7.03s, total=7.03s, count=1, min=7033.4ms, max=7033.4ms + save_batch_prep: mean=2.88s, total=2.88s, count=1, min=2883.4ms, max=2883.4ms + task_sampling: mean=314.7ms, total=944.2ms, count=3, min=311.4ms, max=317.0ms + task_specific_sample: mean=311.9ms, total=935.8ms, count=3, min=308.0ms, max=314.1ms + scene_randomize: mean=1.5ms, total=4.4ms, count=3, min=1.0ms, max=1.8ms + mj_forward_sync: mean=332.2us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=12.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:27:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:25 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 16:27:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014379m [env.py: 870] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.16841396 -0.23898048 -0.01437884] yaw=-165.5deg [env.py: 1019] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.10213105 -0.47221753 -0.01437884] yaw=-161.5deg [env.py: 1019] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.14675532 -0.63271986 -0.01437884] yaw=-153.8deg [env.py: 1019] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.0ms, total=82.0ms [env.py: 1075] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.168, -0.239, -0.014) [env.py: 1079] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.5 deg [env.py: 1082] +05/18 16:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.131m [env.py: 1086] +05/18 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:25 INFO: [Worker 0] Worker 0 house 2 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.845s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:27:27 ERROR: [Worker 0] Worker 0 house 2 episode 45 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:27:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:29 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:27:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058902m [env.py: 870] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10394405 -1.18279407 0.0589021 ] yaw=190.2deg [env.py: 1019] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.07734648 -0.73749769 0.0589021 ] yaw=-174.0deg [env.py: 1019] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.14486957 -0.7400061 0.0589021 ] yaw=-150.2deg [env.py: 1019] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.0ms, total=88.0ms [env.py: 1075] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.104, -1.183, 0.059) [env.py: 1079] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 190.2 deg [env.py: 1082] +05/18 16:27:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.208m [env.py: 1086] +05/18 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:29 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:29 INFO: [Worker 0] Worker 0 house 2 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.854s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:27:31 ERROR: [Worker 0] Worker 0 house 2 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:27:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:32 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:27:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075531m [env.py: 870] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.08400002 -1.03185999 0.07553087] yaw=172.1deg [env.py: 1019] +05/18 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.19785681 -1.01357078 0.07553087] yaw=158.9deg [env.py: 1019] +05/18 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02644252 -0.9374588 0.07553087] yaw=166.5deg [env.py: 1019] +05/18 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=52.9ms, total=52.9ms [env.py: 1075] +05/18 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.084, -1.032, 0.076) [env.py: 1079] +05/18 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.1 deg [env.py: 1082] +05/18 16:27:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/18 16:27:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:33 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:33 INFO: [Worker 0] Worker 0 house 2 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.035s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.655s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:33 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.567[m] 78.877[deg] [grasp_sample.py: 596] +05/18 16:27:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:27:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:27:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:27:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:28:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:28:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:28:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:28:55 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 16:28:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:28:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 72 non-colliding grasps [grasp_sample.py: 520] +05/18 16:28:55 INFO: [Worker 0] Feasibility-checked 72 grasps in 0.411s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:28:55 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.025[m] 2.348[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 16:28:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:28:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:28:57 INFO: [Worker 0] Worker 0 house 2 episode 47 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:29:12 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [pipeline.py: 1174] +05/18 16:29:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_077 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:29:12 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:29:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:29:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_077 [save_utils.py: 785] +05/18 16:29:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_077 in 9.98s (batch: 2.98s, save: 7.01s) [pipeline.py: 300] +05/18 16:29:22 INFO: [Worker 0] [PROFILE] Episode 47 house 2 success=True episode_total=0.75s: + episode_total: mean=38.05s, total=114.16s, count=3, min=2193.1ms, max=109747.7ms + sensor_polling: mean=216.7ms, total=65.00s, count=300, min=193.5ms, max=449.4ms + save_trajectories: mean=7.01s, total=7.01s, count=1, min=7005.3ms, max=7005.3ms + physics_step: mean=14.3ms, total=4.28s, count=300, min=10.2ms, max=27.7ms + save_batch_prep: mean=2.98s, total=2.98s, count=1, min=2976.7ms, max=2976.7ms + task_sampling: mean=249.8ms, total=749.4ms, count=3, min=220.5ms, max=272.1ms + task_specific_sample: mean=247.2ms, total=741.6ms, count=3, min=218.6ms, max=268.5ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=0.8ms, max=2.6ms + mj_forward_sync: mean=327.2us, total=1.0ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=11.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:29:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:29:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:29:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:29:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:24 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:29:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:29:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:29:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080962m [env.py: 870] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:29:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.14851586 -0.76695796 0.08096228] yaw=-169.7deg [env.py: 1019] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.03275843 -1.26075021 0.08096228] yaw=138.6deg [env.py: 1019] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0291081 -1.33298051 0.08096228] yaw=144.4deg [env.py: 1019] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:29:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=59.5ms, total=59.5ms [env.py: 1075] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.149, -0.767, 0.081) [env.py: 1079] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.7 deg [env.py: 1082] +05/18 16:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.232m [env.py: 1086] +05/18 16:29:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:29:24 INFO: [Worker 0] Worker 0 house 2 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 16:29:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/18 16:29:24 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 16:29:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:29:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:29:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.885s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:29:26 ERROR: [Worker 0] Worker 0 house 2 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:29:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:29:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:29:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:27 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:29:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:29:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:29:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045782m [env.py: 870] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:29:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.12122842 -0.34621606 0.04578244] yaw=-131.8deg [env.py: 1019] +05/18 16:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0678293 -1.50742913 0.04578244] yaw=147.7deg [env.py: 1019] +05/18 16:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:29:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=135.9ms, total=135.9ms [env.py: 1075] +05/18 16:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.121, -0.346, 0.046) [env.py: 1079] +05/18 16:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.8 deg [env.py: 1082] +05/18 16:29:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.110m [env.py: 1086] +05/18 16:29:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:29:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:29:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:29:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:29:28 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:29:28 INFO: [Worker 0] Worker 0 house 2 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 16:29:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s [base_object_manipulation_planner_policy.py: 377] +05/18 16:29:28 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 16:29:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:29:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:29:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.029s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:29:30 INFO: [Worker 0] Feasible grasp found 162 (originally 47): w/ 0.802[m] 101.547[deg] [grasp_sample.py: 596] +05/18 16:29:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:29:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:29:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:30:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:30:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:30:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:26 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.914s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:26 INFO: [Worker 0] Feasible grasp found 98 (originally 98): w/ 0.056[m] 14.185[deg] [grasp_sample.py: 596] +05/18 16:30:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:30:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:30:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:37 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.769s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:37 INFO: [Worker 0] Feasible grasp found 98 (originally 98): w/ 0.056[m] 14.184[deg] [grasp_sample.py: 596] +05/18 16:30:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:30:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:30:45 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 16:30:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:48 INFO: [Worker 0] Feasibility-checked 82 grasps in 2.703s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:30:48 INFO: [Worker 0] Feasible grasp found 98 (originally 98): w/ 0.056[m] 14.184[deg] [grasp_sample.py: 596] +05/18 16:30:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:30:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:30:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:30:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:30:55 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 16:30:56 INFO: [Worker 0] Worker 0 house 2 episode 49 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:30:56 INFO: [Worker 0] [PROFILE] Episode 49 house 2 success=False episode_total=0.57s: + episode_total: mean=45.16s, total=90.32s, count=2, min=2234.4ms, max=88088.6ms + sensor_polling: mean=212.0ms, total=48.13s, count=227, min=188.8ms, max=483.2ms + physics_step: mean=13.2ms, total=3.00s, count=227, min=9.3ms, max=18.3ms + task_sampling: mean=283.6ms, total=567.2ms, count=2, min=255.9ms, max=311.4ms + task_specific_sample: mean=280.1ms, total=560.2ms, count=2, min=252.9ms, max=307.3ms + scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.6ms, max=1.9ms + mj_forward_sync: mean=328.6us, total=0.7ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=12.4us, 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 16:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:30:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:30:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:57 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:30:57 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 16:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:30:57 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 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086176m [env.py: 870] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 152.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.3529086 -0.11195362 0.08617647] yaw=-122.3deg [env.py: 1019] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 159.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=142.0ms, total=142.0ms [env.py: 1075] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.353, -0.112, 0.086) [env.py: 1079] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.3 deg [env.py: 1082] +05/18 16:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m [env.py: 1086] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:30:57 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:30:57 INFO: [Worker 0] Worker 0 house 2 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 16:30:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 16:30:57 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 16:30:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:30:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.036s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:30:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.932s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:30:59 ERROR: [Worker 0] Worker 0 house 2 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:31:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:01 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007007m [env.py: 870] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.04338892 -1.42751226 -0.00700721] yaw=135.3deg [env.py: 1019] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 147.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.14446743 -1.10419537 -0.00700721] yaw=159.8deg [env.py: 1019] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.37385951 -0.4086276 -0.00700721] yaw=-133.8deg [env.py: 1019] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.8ms, total=131.8ms [env.py: 1075] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.043, -1.428, -0.007) [env.py: 1079] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 135.3 deg [env.py: 1082] +05/18 16:31:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.151m [env.py: 1086] +05/18 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:01 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:01 INFO: [Worker 0] Worker 0 house 2 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.937s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:31:03 ERROR: [Worker 0] Worker 0 house 2 episode 51 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:31:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:05 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091056m [env.py: 870] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.24456297 -1.15986236 0.09105648] yaw=171.7deg [env.py: 1019] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.04918804 -0.93544921 0.09105648] yaw=174.7deg [env.py: 1019] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.23009302 -1.28047835 0.09105648] yaw=184.8deg [env.py: 1019] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.3ms, total=135.3ms [env.py: 1075] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.245, -1.160, 0.091) [env.py: 1079] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg [env.py: 1082] +05/18 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:05 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:05 INFO: [Worker 0] Worker 0 house 2 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.123s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:06 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.489[m] 81.743[deg] [grasp_sample.py: 596] +05/18 16:31:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:31:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:31:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:31:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:31:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:31:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:32:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:32:00 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 16:32:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 84 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:01 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.455s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:32:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.039[m] 9.381[deg] [grasp_sample.py: 596] +05/18 16:32:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:32:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:32:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:32:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:32:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:32:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:32:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:32:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:32:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.448s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:32:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.751[deg] [grasp_sample.py: 596] +05/18 16:32:30 ERROR: [Worker 0] Worker 0 house 2 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:32:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:32:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:32:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +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 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:32:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:32:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:32:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.007m, effective arm-mount z=0.853m (base_body_z=-0.007m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.007221m [env.py: 870] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:32:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23666 free points within sampling radius [env.py: 907] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.0804435 -0.5342529 -0.00722129] yaw=-174.4deg [env.py: 1019] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.02462856 -1.06867104 -0.00722129] yaw=160.4deg [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 3: pos=[ 0.15465936 -1.2697533 -0.00722129] yaw=141.8deg [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 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=57.7ms, total=57.7ms [env.py: 1075] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.080, -0.534, -0.007) [env.py: 1079] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg [env.py: 1082] +05/18 16:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [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 53/72 collected=0/12 [pipeline.py: 1044] +05/18 16:32:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [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 0.037s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:32:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.925s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:32:34 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.650[m] 50.547[deg] [grasp_sample.py: 596] +05/18 16:32:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:32:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:32:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:32:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:33:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:33:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:33:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m_2house/sim/house_2/chunk_077/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_077/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2762576f785a34ea02f69c07f67a6a5a17a27987 --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_077/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3ac45b7a8822f8bf42ff6ca43715db4fcd53fb4008845b55d5d56c9b14706af +size 1592423459