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'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_fridge_m', + 'seed': 40052, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.1, 0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.85, 1.3), + 'base_pose_sampling_theta_range_rad': (-0.5, 1.0), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 1, + 'fixed_object_instance_index': [1], + 'house_inds': [2], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['fridge'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 15:45:33 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 15:45:33 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 15:45:33 INFO: [Worker 0] Worker 0 starting house 2 (index 0/1) [pipeline.py: 464] +05/18 15:45:35 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 15:45:40 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 15:45:40 INFO: [Worker 0] Setting up scene for house 2, task None... [pick_task_sampler.py: 197] +05/18 15:45:41 INFO: [Worker 0] Found 1 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 15:45:41 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 15:45:41 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 15:45:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:45:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:45:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:45:41 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 15:45:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:45:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.079m, effective arm-mount z=0.781m (base_body_z=-0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079319m [env.py: 870] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:45:41 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 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00403973 -0.71544033 -0.07931919] yaw=-146.8deg [env.py: 1019] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.45354606 -0.3110683 -0.07931919] yaw=-146.9deg [env.py: 1019] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 138.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 141.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.02279841 -1.14505522 -0.07931919] yaw=181.2deg [env.py: 1019] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:45:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=33.3ms, retries=287.6ms, total=320.8ms [env.py: 1075] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.004, -0.715, -0.079) [env.py: 1079] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.8 deg [env.py: 1082] +05/18 15:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/18 15:45:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:45:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:45:41 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:45:41 INFO: [Worker 0] Worker 0 house 2 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 15:46:25 INFO: [Worker 0] Warmed up parallel IK solver in 43.413s [base_object_manipulation_planner_policy.py: 377] +05/18 15:46:25 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 15:46:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:46:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.125s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:46:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.980s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:46:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.889[m] 112.133[deg] [grasp_sample.py: 596] +05/18 15:46:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:46:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:46:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:46:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:48:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:48:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:48:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:14 INFO: [Worker 0] Worker 0 house 2 episode 0 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:49:14 INFO: [Worker 0] [PROFILE] Episode 0 house 2 success=False episode_total=8.56s: + episode_total: mean=221.01s, total=221.01s, count=1, min=221010.5ms, max=221010.5ms + sensor_polling: mean=494.9ms, total=148.46s, count=300, min=458.6ms, max=542.3ms + physics_step: mean=41.4ms, total=12.41s, count=300, min=28.9ms, max=46.0ms + task_sampling: mean=8.56s, total=8.56s, count=1, min=8564.5ms, max=8564.5ms + scene_load: mean=7.89s, total=7.89s, count=1, min=7887.3ms, max=7887.3ms + scene_env_create: mean=4.01s, total=4.01s, count=1, min=4010.5ms, max=4010.5ms + scene_compile: mean=3.51s, total=3.51s, count=1, min=3514.0ms, max=3514.0ms + compile_xml_load: mean=1.87s, total=1.87s, count=1, min=1870.1ms, max=1870.1ms + compile_mujoco: mean=1.42s, total=1.42s, count=1, min=1416.0ms, max=1416.0ms + task_specific_sample: mean=671.3ms, total=671.3ms, count=1, min=671.3ms, max=671.3ms + scene_asset_install: mean=216.8ms, total=216.8ms, count=1, min=216.8ms, max=216.8ms + scene_init: mean=145.7ms, total=145.7ms, count=1, min=145.7ms, max=145.7ms + compile_robot_add: mean=110.6ms, total=110.6ms, count=1, min=110.6ms, max=110.6ms + compile_aux_objects: mean=106.7ms, total=106.7ms, count=1, min=106.7ms, max=106.7ms + compile_aux_policy_objects: mean=106.7ms, total=106.7ms, count=1, min=106.7ms, max=106.7ms + asset_install_scene: mean=81.4ms, total=81.4ms, count=1, min=81.4ms, max=81.4ms + asset_install_objects: mean=77.0ms, total=77.0ms, count=1, min=77.0ms, max=77.0ms + asset_install_grasps: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=723.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +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=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, 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: 0.011164m [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 23387 free points within sampling radius [env.py: 907] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.19722572 -0.80036989 0.01116434] yaw=-166.1deg [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 4: bearing -161.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08711305 -0.68889591 0.01116434] yaw=-147.3deg [env.py: 1019] +05/18 15:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.07416049 -1.13462187 0.01116434] yaw=139.2deg [env.py: 1019] +05/18 15:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:49:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=267.4ms, total=267.4ms [env.py: 1075] +05/18 15:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.197, -0.800, 0.011) [env.py: 1079] +05/18 15:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg [env.py: 1082] +05/18 15:49:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/18 15:49:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:49:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:49:16 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 1/72 collected=0/12 [pipeline.py: 1044] +05/18 15:49:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [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 0.123s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:49:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.246s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:49:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 70.919[deg] [grasp_sample.py: 596] +05/18 15:49:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:49:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:49:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:49:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:50:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:50:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:50:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:00 INFO: [Worker 0] Worker 0 house 2 episode 1 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:52:24 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [pipeline.py: 1174] +05/18 15:52:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_052 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:52:24 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/18 15:52:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:52:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [save_utils.py: 785] +05/18 15:52:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_052 in 15.91s (batch: 3.40s, save: 12.50s) [pipeline.py: 300] +05/18 15:52:40 INFO: [Worker 0] [PROFILE] Episode 1 house 2 success=True episode_total=0.58s: + episode_total: mean=204.74s, total=204.74s, count=1, min=204739.6ms, max=204739.6ms + sensor_polling: mean=495.1ms, total=146.04s, count=295, min=459.5ms, max=575.6ms + save_trajectories: mean=12.50s, total=12.50s, count=1, min=12504.6ms, max=12504.6ms + physics_step: mean=42.0ms, total=12.38s, count=295, min=29.3ms, max=63.4ms + save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3402.2ms, max=3402.2ms + task_sampling: mean=584.6ms, total=584.6ms, count=1, min=584.6ms, max=584.6ms + task_specific_sample: mean=581.3ms, total=581.3ms, count=1, min=581.3ms, max=581.3ms + scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms + mj_forward_sync: mean=629.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=30.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:52:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:52:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:41 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:52:41 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 15:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:52:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093759m [env.py: 870] +05/18 15:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 15:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.05836096 -1.38692285 0.09375869] yaw=156.9deg [env.py: 1019] +05/18 15:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.07944054 -0.7314541 0.09375869] yaw=-144.8deg [env.py: 1019] +05/18 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 156.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.05680375 -0.55896716 0.09375869] yaw=-169.4deg [env.py: 1019] +05/18 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:52:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=282.0ms, total=282.1ms [env.py: 1075] +05/18 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.058, -1.387, 0.094) [env.py: 1079] +05/18 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.9 deg [env.py: 1082] +05/18 15:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.120m [env.py: 1086] +05/18 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:52:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:52:42 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:52:42 INFO: [Worker 0] Worker 0 house 2 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 15:52:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 15:52:42 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 15:52:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:52:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.148s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:52:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.734s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:52:46 INFO: [Worker 0] Feasible grasp found 36 (originally 36): w/ 0.800[m] 99.208[deg] [grasp_sample.py: 596] +05/18 15:52:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:52:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:52:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:52:47 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 15:54:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:54:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:54:32 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:55:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:55:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:55:37 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 15:55:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.125s, found 82 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:38 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.797s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:55:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.032[m] 8.716[deg] [grasp_sample.py: 596] +05/18 15:55:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:55:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:55:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:55:49 INFO: [Worker 0] Worker 0 house 2 episode 2 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 15:55:49 INFO: [Worker 0] [PROFILE] Episode 2 house 2 success=False episode_total=0.61s: + episode_total: mean=187.51s, total=187.51s, count=1, min=187510.3ms, max=187510.3ms + sensor_polling: mean=499.4ms, total=149.81s, count=300, min=470.3ms, max=584.5ms + physics_step: mean=40.4ms, total=12.13s, count=300, min=28.3ms, max=54.9ms + task_sampling: mean=608.5ms, total=608.5ms, count=1, min=608.5ms, max=608.5ms + task_specific_sample: mean=603.3ms, total=603.3ms, count=1, min=603.3ms, max=603.3ms + scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + mj_forward_sync: mean=641.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.6us, 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 15:55:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:55:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:55:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:55:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:50 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:55:50 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 15:55:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:55:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018046m [env.py: 870] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:55:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 15:55:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.29529574 -0.53486184 0.01804586] yaw=-176.0deg [env.py: 1019] +05/18 15:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.05211978 -1.41830138 0.01804586] yaw=129.7deg [env.py: 1019] +05/18 15:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:55:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=307.8ms, total=307.9ms [env.py: 1075] +05/18 15:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.295, -0.535, 0.018) [env.py: 1079] +05/18 15:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.0 deg [env.py: 1082] +05/18 15:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/18 15:55:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:55:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:55:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:55:51 INFO: [Worker 0] Worker 0 house 2 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 15:55:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/18 15:55:51 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 15:55:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:55:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.120s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:55:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.211s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:55:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.586[m] 61.842[deg] [grasp_sample.py: 596] +05/18 15:55:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:55:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:55:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:56:52 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 15:57:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:58:39 INFO: [Worker 0] Worker 0 house 2 episode 3 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 15:59:05 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [pipeline.py: 1174] +05/18 15:59:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_052 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:59:05 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 15:59:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:59:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [save_utils.py: 785] +05/18 15:59:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_052 in 17.64s (batch: 3.84s, save: 13.80s) [pipeline.py: 300] +05/18 15:59:24 INFO: [Worker 0] [PROFILE] Episode 3 house 2 success=True episode_total=0.63s: + episode_total: mean=213.14s, total=213.14s, count=1, min=213140.4ms, max=213140.4ms + sensor_polling: mean=499.5ms, total=149.86s, count=300, min=452.2ms, max=623.4ms + save_trajectories: mean=13.80s, total=13.80s, count=1, min=13803.6ms, max=13803.6ms + physics_step: mean=43.5ms, total=13.04s, count=300, min=27.3ms, max=48.4ms + save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3838.5ms, max=3838.5ms + task_sampling: mean=625.9ms, total=625.9ms, count=1, min=625.9ms, max=625.9ms + task_specific_sample: mean=622.2ms, total=622.2ms, count=1, min=622.2ms, max=622.2ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=631.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:59:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:59:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:59:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:59:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 15:59:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:59:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.053m, effective arm-mount z=0.807m (base_body_z=-0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.052821m [env.py: 870] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:59:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 157.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.06867954 -1.41399294 -0.05282101] yaw=145.5deg [env.py: 1019] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:59:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=325.3ms, total=325.4ms [env.py: 1075] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.069, -1.414, -0.053) [env.py: 1079] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.5 deg [env.py: 1082] +05/18 15:59:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.122m [env.py: 1086] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:26 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:59:26 INFO: [Worker 0] Worker 0 house 2 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 15:59:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 15:59:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:59:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:59:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.124s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.747s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:59:34 INFO: [Worker 0] Feasible grasp found 175 (originally 60): w/ 0.800[m] 174.000[deg] [grasp_sample.py: 596] +05/18 15:59:35 ERROR: [Worker 0] Worker 0 house 2 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:59:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 15:59:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:59:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:37 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 15:59:37 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 15:59:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 15:59:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078787m [env.py: 870] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 15:59:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.28719154 -1.30077266 0.07878671] yaw=163.1deg [env.py: 1019] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.24501316 -0.0838374 0.07878671] yaw=-136.5deg [env.py: 1019] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.51279007 -0.25653191 0.07878671] yaw=-145.0deg [env.py: 1019] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:59:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.3ms, total=133.4ms [env.py: 1075] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.287, -1.301, 0.079) [env.py: 1079] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg [env.py: 1082] +05/18 15:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/18 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:59:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:59:37 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 15:59:37 INFO: [Worker 0] Worker 0 house 2 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 15:59:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s [base_object_manipulation_planner_policy.py: 377] +05/18 15:59:37 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 15:59:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:59:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.148s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 15:59:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.595s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:59:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.568[m] 76.819[deg] [grasp_sample.py: 596] +05/18 15:59:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:59:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:59:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:59:41 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 16:00:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:00:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:00:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:02:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:02:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:02:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:02:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:02:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.136s, found 78 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.740s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:02:19 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.493[deg] [grasp_sample.py: 596] +05/18 16:02:22 ERROR: [Worker 0] Worker 0 house 2 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:02:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:02:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:02:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:23 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:02:23 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 16:02:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:02:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025562m [env.py: 870] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:02:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.12304442 -0.84307707 0.02556201] yaw=-168.1deg [env.py: 1019] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.08551999 -1.18737556 0.02556201] yaw=163.4deg [env.py: 1019] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.18732092 -1.22758954 0.02556201] yaw=162.2deg [env.py: 1019] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:02:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=339.3ms, total=339.4ms [env.py: 1075] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.123, -0.843, 0.026) [env.py: 1079] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.1 deg [env.py: 1082] +05/18 16:02:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/18 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:02:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:02:24 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:02:24 INFO: [Worker 0] Worker 0 house 2 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 16:02:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/18 16:02:24 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 16:02:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:02:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.123s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:02:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.248s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:02:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.591[m] 42.369[deg] [grasp_sample.py: 596] +05/18 16:02:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:02:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:02:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:03:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:03:40 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:05:12 INFO: [Worker 0] Worker 0 house 2 episode 6 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:05:37 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [pipeline.py: 1174] +05/18 16:05:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_052 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:05:37 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:05:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:05:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [save_utils.py: 785] +05/18 16:05:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_052 in 17.31s (batch: 3.92s, save: 13.39s) [pipeline.py: 300] +05/18 16:05:54 INFO: [Worker 0] [PROFILE] Episode 6 house 2 success=True episode_total=1.80s: + episode_total: mean=128.86s, total=386.58s, count=3, min=10566.6ms, max=211400.7ms + sensor_polling: mean=499.2ms, total=275.06s, count=551, min=466.3ms, max=620.1ms + physics_step: mean=42.0ms, total=23.13s, count=551, min=27.5ms, max=74.4ms + save_trajectories: mean=13.39s, total=13.39s, count=1, min=13389.9ms, max=13389.9ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3916.9ms, max=3916.9ms + task_sampling: mean=599.6ms, total=1.80s, count=3, min=460.7ms, max=672.2ms + task_specific_sample: mean=595.7ms, total=1.79s, count=3, min=456.8ms, max=667.8ms + scene_randomize: mean=2.2ms, total=6.5ms, count=3, min=1.8ms, max=2.8ms + mj_forward_sync: mean=672.1us, total=2.0ms, count=3, min=0.7ms, max=0.7ms + policy_setup: mean=19.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:05:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:05:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:05:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:05:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:56 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:05:56 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 16:05:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:05:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.026m, effective arm-mount z=0.834m (base_body_z=-0.026m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026311m [env.py: 870] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:05:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.23213287 -0.4326947 -0.02631128] yaw=-168.1deg [env.py: 1019] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06003538 -1.29529681 -0.02631128] yaw=140.2deg [env.py: 1019] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03112698 -0.64170302 -0.02631128] yaw=-186.1deg [env.py: 1019] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:05:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=226.0ms, total=226.1ms [env.py: 1075] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.232, -0.433, -0.026) [env.py: 1079] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.1 deg [env.py: 1082] +05/18 16:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/18 16:05:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:05:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:05:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:05:56 INFO: [Worker 0] Worker 0 house 2 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 16:05:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 16:05:56 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 16:05:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:05:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.144s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:06:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 7.017s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:06:04 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.738[m] 97.265[deg] [grasp_sample.py: 596] +05/18 16:06:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:06:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:06:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:06:05 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 16:07:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:07:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:07:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:08 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 16:08:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:08:09 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 16:08:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.132s, found 80 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:09 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.839s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:08:09 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.119[m] 0.894[deg] [grasp_sample.py: 596] +05/18 16:08:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:08:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:08:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:08:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:08:49 INFO: [Worker 0] Worker 0 house 2 episode 7 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:08:49 INFO: [Worker 0] [PROFILE] Episode 7 house 2 success=False episode_total=0.58s: + episode_total: mean=172.72s, total=172.72s, count=1, min=172723.1ms, max=172723.1ms + sensor_polling: mean=492.8ms, total=147.84s, count=300, min=454.7ms, max=577.9ms + physics_step: mean=41.0ms, total=12.30s, count=300, min=28.2ms, max=77.2ms + task_sampling: mean=575.8ms, total=575.8ms, count=1, min=575.8ms, max=575.8ms + task_specific_sample: mean=570.3ms, total=570.3ms, count=1, min=570.3ms, max=570.3ms + scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + mj_forward_sync: mean=686.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:08:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:08:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:50 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:08:50 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 16:08:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:50 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 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.094232m [env.py: 870] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.07268701 -1.48369452 -0.0942316 ] yaw=134.3deg [env.py: 1019] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.25669812 -0.43744546 -0.0942316 ] yaw=-170.6deg [env.py: 1019] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.30101045 -1.33196376 -0.0942316 ] yaw=150.8deg [env.py: 1019] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=190.9ms, total=191.0ms [env.py: 1075] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.073, -1.484, -0.094) [env.py: 1079] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 134.3 deg [env.py: 1082] +05/18 16:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.280m [env.py: 1086] +05/18 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:51 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:51 INFO: [Worker 0] Worker 0 house 2 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:51 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 16:08:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.118s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:08:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.183s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:08:54 ERROR: [Worker 0] Worker 0 house 2 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:08:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:08:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:08:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:56 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:08:56 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 16:08:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:08:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009889m [env.py: 870] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:08:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 112.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.4652309 -0.16081566 0.0098886 ] yaw=-128.7deg [env.py: 1019] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.00227272 -0.6108337 0.0098886 ] yaw=-158.1deg [env.py: 1019] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:08:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=331.1ms, total=331.2ms [env.py: 1075] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.465, -0.161, 0.010) [env.py: 1079] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.7 deg [env.py: 1082] +05/18 16:08:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/18 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:08:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:08:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:08:56 INFO: [Worker 0] Worker 0 house 2 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 16:08:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s [base_object_manipulation_planner_policy.py: 377] +05/18 16:08:56 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 16:08:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:08:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.125s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:09:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.793s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:09:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.649[m] 101.659[deg] [grasp_sample.py: 596] +05/18 16:09:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:09:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:09:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:09:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:10:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:10:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:10:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 16:11:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 16:11:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 16:11:25 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 16:11:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:11:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.129s, found 74 non-colliding grasps [grasp_sample.py: 520] +05/18 16:11:29 INFO: [Worker 0] Feasibility-checked 74 grasps in 3.438s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:11:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.132[deg] [grasp_sample.py: 596] +05/18 16:11:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:11:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:11:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:11:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:11:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:12:05 INFO: [Worker 0] Worker 0 house 2 episode 9 object Fridge_7_upside_down_root completed with success=False [pipeline.py: 1108] +05/18 16:12:05 INFO: [Worker 0] [PROFILE] Episode 9 house 2 success=False episode_total=1.19s: + episode_total: mean=96.53s, total=193.05s, count=2, min=3943.7ms, max=189109.3ms + sensor_polling: mean=484.6ms, total=145.38s, count=300, min=452.6ms, max=627.6ms + physics_step: mean=41.3ms, total=12.38s, count=300, min=29.6ms, max=53.4ms + task_sampling: mean=595.3ms, total=1.19s, count=2, min=521.8ms, max=668.9ms + task_specific_sample: mean=590.8ms, total=1.18s, count=2, min=517.8ms, max=663.9ms + scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.9ms, max=2.5ms + mj_forward_sync: mean=677.7us, total=1.4ms, count=2, min=0.7ms, max=0.7ms + policy_setup: mean=13.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:12:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:12:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:12:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:06 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:12:06 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 16:12:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:12:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.098m, effective arm-mount z=0.762m (base_body_z=-0.098m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.098322m [env.py: 870] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:12:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.29468686 -0.49063522 -0.09832197] yaw=-139.8deg [env.py: 1019] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.34175366 0.06578481 -0.09832197] yaw=-112.8deg [env.py: 1019] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.16409809 -0.93818322 -0.09832197] yaw=162.7deg [env.py: 1019] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:12:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=277.1ms, total=277.2ms [env.py: 1075] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.295, -0.491, -0.098) [env.py: 1079] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.8 deg [env.py: 1082] +05/18 16:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m [env.py: 1086] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:12:07 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:12:07 INFO: [Worker 0] Worker 0 house 2 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 16:12:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/18 16:12:07 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 16:12:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:12:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.119s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:12:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.113s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:12:08 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.519[m] 104.665[deg] [grasp_sample.py: 596] +05/18 16:12:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:12:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:12:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:12:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:13:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:13:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:13:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:14:53 INFO: [Worker 0] Worker 0 house 2 episode 10 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:15:19 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [pipeline.py: 1174] +05/18 16:15:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_052 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:15:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:15:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:15:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [save_utils.py: 785] +05/18 16:15:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_052 in 16.91s (batch: 3.78s, save: 13.13s) [pipeline.py: 300] +05/18 16:15:36 INFO: [Worker 0] [PROFILE] Episode 10 house 2 success=True episode_total=0.61s: + episode_total: mean=210.01s, total=210.01s, count=1, min=210006.6ms, max=210006.6ms + sensor_polling: mean=494.7ms, total=148.42s, count=300, min=474.5ms, max=580.9ms + save_trajectories: mean=13.13s, total=13.13s, count=1, min=13134.7ms, max=13134.7ms + physics_step: mean=42.6ms, total=12.78s, count=300, min=30.2ms, max=59.7ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3780.2ms, max=3780.2ms + task_sampling: mean=607.6ms, total=607.6ms, count=1, min=607.6ms, max=607.6ms + task_specific_sample: mean=603.9ms, total=603.9ms, count=1, min=603.9ms, max=603.9ms + scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms + mj_forward_sync: mean=663.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:15:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:38 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.079m, effective arm-mount z=0.781m (base_body_z=-0.079m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.079358m [env.py: 870] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02627641 -1.16668554 -0.0793584 ] yaw=155.2deg [env.py: 1019] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.45340246 -0.01284711 -0.0793584 ] yaw=-110.7deg [env.py: 1019] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.2089185 -0.61762881 -0.0793584 ] yaw=-172.0deg [env.py: 1019] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=195.5ms, total=195.5ms [env.py: 1075] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.026, -1.167, -0.079) [env.py: 1079] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.2 deg [env.py: 1082] +05/18 16:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.129m [env.py: 1086] +05/18 16:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:38 INFO: [Worker 0] Worker 0 house 2 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:38 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 16:15:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.154s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.797s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:42 ERROR: [Worker 0] Worker 0 house 2 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:44 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.053m, effective arm-mount z=0.807m (base_body_z=-0.053m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.053171m [env.py: 870] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 172.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.43106592 -0.09624853 -0.05317071] yaw=-127.6deg [env.py: 1019] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.41519092 -0.34149479 -0.05317071] yaw=-128.5deg [env.py: 1019] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=327.5ms, total=327.5ms [env.py: 1075] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.431, -0.096, -0.053) [env.py: 1079] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.6 deg [env.py: 1082] +05/18 16:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/18 16:15:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:44 INFO: [Worker 0] Worker 0 house 2 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:45 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 16:15:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.249s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:48 ERROR: [Worker 0] Worker 0 house 2 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:49 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:49 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 16:15:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057092m [env.py: 870] +05/18 16:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12228479 -0.47166408 0.05709182] yaw=-166.4deg [env.py: 1019] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.20967439 -0.39140702 0.05709182] yaw=-177.3deg [env.py: 1019] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=325.3ms, total=325.4ms [env.py: 1075] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.122, -0.472, 0.057) [env.py: 1079] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.4 deg [env.py: 1082] +05/18 16:15:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.276m [env.py: 1086] +05/18 16:15:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:50 INFO: [Worker 0] Worker 0 house 2 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:15:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.128s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.310s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:15:54 ERROR: [Worker 0] Worker 0 house 2 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:15:54 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 16:15:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:15:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:15:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:55 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:15:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:15:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:15:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081329m [env.py: 870] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:15:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.19362491 -0.27515096 0.08132913] yaw=-122.2deg [env.py: 1019] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03199565 -0.74804517 0.08132913] yaw=-152.4deg [env.py: 1019] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.07314668 -0.57468405 0.08132913] yaw=-141.4deg [env.py: 1019] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=307.5ms, total=307.5ms [env.py: 1075] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.194, -0.275, 0.081) [env.py: 1079] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.2 deg [env.py: 1082] +05/18 16:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m [env.py: 1086] +05/18 16:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:15:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:15:56 INFO: [Worker 0] Worker 0 house 2 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 16:15:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/18 16:15:56 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 16:15:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:15:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.126s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:15:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.396s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:15:59 INFO: [Worker 0] Feasible grasp found 124 (originally 9): w/ 0.830[m] 115.438[deg] [grasp_sample.py: 596] +05/18 16:16:01 ERROR: [Worker 0] Worker 0 house 2 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:16:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:16:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:16:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:16:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:03 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:16:03 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 16:16:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:16:03 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 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.076285m [env.py: 870] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:16:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.38423688 -0.01290447 -0.07628539] yaw=-99.4deg [env.py: 1019] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11374511 -0.50843356 -0.07628539] yaw=-160.3deg [env.py: 1019] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 132.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.35080885 -0.07614438 -0.07628539] yaw=-131.0deg [env.py: 1019] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:16:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=221.7ms, total=221.8ms [env.py: 1075] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.384, -0.013, -0.076) [env.py: 1079] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.4 deg [env.py: 1082] +05/18 16:16:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.137m [env.py: 1086] +05/18 16:16:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:03 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:16:03 INFO: [Worker 0] Worker 0 house 2 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 16:16:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s [base_object_manipulation_planner_policy.py: 377] +05/18 16:16:03 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 16:16:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.125s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.381s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:16:07 ERROR: [Worker 0] Worker 0 house 2 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:16:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:16:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:16:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:16:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:08 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:16:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:16:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:16:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.091m, effective arm-mount z=0.769m (base_body_z=-0.091m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.091145m [env.py: 870] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:16:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.14729461 -1.27843208 -0.09114472] yaw=184.3deg [env.py: 1019] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 143.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -117.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.14845287 -0.67162462 -0.09114472] yaw=-174.2deg [env.py: 1019] +05/18 16:16:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.0067614 -0.92235305 -0.09114472] yaw=199.8deg [env.py: 1019] +05/18 16:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:16:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=308.4ms, total=308.5ms [env.py: 1075] +05/18 16:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.147, -1.278, -0.091) [env.py: 1079] +05/18 16:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.3 deg [env.py: 1082] +05/18 16:16:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/18 16:16:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:16:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:16:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:16:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:16:09 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:16:09 INFO: [Worker 0] Worker 0 house 2 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 16:16:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/18 16:16:09 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 16:16:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:16:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.124s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:16:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.758s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:16:13 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.844[m] 60.299[deg] [grasp_sample.py: 596] +05/18 16:16:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:16:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:16:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:16:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:17:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:17:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:17:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:18:59 INFO: [Worker 0] Worker 0 house 2 episode 16 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:19:24 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [pipeline.py: 1174] +05/18 16:19:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_052 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:19:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:19:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:19:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [save_utils.py: 785] +05/18 16:19:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_052 in 16.57s (batch: 3.43s, save: 13.14s) [pipeline.py: 300] +05/18 16:19:41 INFO: [Worker 0] [PROFILE] Episode 16 house 2 success=True episode_total=3.67s: + episode_total: mean=39.38s, total=236.28s, count=6, min=4133.0ms, max=212895.1ms + sensor_polling: mean=499.6ms, total=149.88s, count=300, min=474.6ms, max=585.0ms + save_trajectories: mean=13.14s, total=13.14s, count=1, min=13139.2ms, max=13139.2ms + physics_step: mean=40.9ms, total=12.28s, count=300, min=29.4ms, max=44.5ms + task_sampling: mean=612.3ms, total=3.67s, count=6, min=539.7ms, max=657.0ms + task_specific_sample: mean=608.6ms, total=3.65s, count=6, min=536.3ms, max=653.3ms + save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3434.0ms, max=3434.0ms + scene_randomize: mean=2.0ms, total=11.9ms, count=6, min=1.5ms, max=3.9ms + mj_forward_sync: mean=662.4us, total=4.0ms, count=6, min=0.6ms, max=0.7ms + policy_setup: mean=14.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:19:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:19:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:19:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:19:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:43 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:19:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:19:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:19:43 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 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047514m [env.py: 870] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:19:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.11058254 -1.27630709 0.04751436] yaw=157.2deg [env.py: 1019] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10986854 -0.96987777 0.04751436] yaw=176.5deg [env.py: 1019] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09576463 -1.22195803 0.04751436] yaw=143.7deg [env.py: 1019] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:19:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=252.1ms, total=252.2ms [env.py: 1075] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.111, -1.276, 0.048) [env.py: 1079] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.2 deg [env.py: 1082] +05/18 16:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m [env.py: 1086] +05/18 16:19:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:19:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:19:43 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:19:43 INFO: [Worker 0] Worker 0 house 2 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 16:19:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 16:19:43 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 16:19:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:19:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.152s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:19:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.313s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:19:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 84.264[deg] [grasp_sample.py: 596] +05/18 16:19:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:19:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:19:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:19:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:20:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:20:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:20:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 16:22:40 INFO: [Worker 0] Worker 0 house 2 episode 17 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:23:06 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [pipeline.py: 1174] +05/18 16:23:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_052 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:23:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:23:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:23:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [save_utils.py: 785] +05/18 16:23:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_052 in 16.85s (batch: 3.46s, save: 13.39s) [pipeline.py: 300] +05/18 16:23:23 INFO: [Worker 0] [PROFILE] Episode 17 house 2 success=True episode_total=0.61s: + episode_total: mean=220.61s, total=220.61s, count=1, min=220611.2ms, max=220611.2ms + sensor_polling: mean=504.4ms, total=151.31s, count=300, min=470.8ms, max=605.4ms + save_trajectories: mean=13.39s, total=13.39s, count=1, min=13391.6ms, max=13391.6ms + physics_step: mean=41.8ms, total=12.53s, count=300, min=28.8ms, max=46.1ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3455.5ms, max=3455.5ms + task_sampling: mean=612.9ms, total=612.9ms, count=1, min=612.9ms, max=612.9ms + task_specific_sample: mean=607.2ms, total=607.2ms, count=1, min=607.2ms, max=607.2ms + scene_randomize: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + mj_forward_sync: mean=676.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=19.4us, 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 16:23:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:23:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:23:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:23:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:25 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:23:25 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 16:23:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:23:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.065m, effective arm-mount z=0.795m (base_body_z=-0.065m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.065081m [env.py: 870] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:23:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.11833715 -0.13833488 -0.0650814 ] yaw=-140.9deg [env.py: 1019] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.13726944 -0.13144453 -0.0650814 ] yaw=-148.6deg [env.py: 1019] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.2313501 -0.57557188 -0.0650814 ] yaw=-176.4deg [env.py: 1019] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:23:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=337.8ms, total=337.8ms [env.py: 1075] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.118, -0.138, -0.065) [env.py: 1079] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.9 deg [env.py: 1082] +05/18 16:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.232m [env.py: 1086] +05/18 16:23:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:25 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:23:25 INFO: [Worker 0] Worker 0 house 2 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 16:23:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/18 16:23:25 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 16:23:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.124s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.333s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:23:29 ERROR: [Worker 0] Worker 0 house 2 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:23:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:23:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:23:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:30 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:23:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:23:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:23:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.023m, effective arm-mount z=0.837m (base_body_z=-0.023m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023445m [env.py: 870] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:23:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03941285 -0.74142637 -0.02344519] yaw=-185.1deg [env.py: 1019] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.03884 -0.80679357 -0.02344519] yaw=-166.0deg [env.py: 1019] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05606141 -0.78914973 -0.02344519] yaw=-184.0deg [env.py: 1019] +05/18 16:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:23:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=244.8ms, total=244.8ms [env.py: 1075] +05/18 16:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.039, -0.741, -0.023) [env.py: 1079] +05/18 16:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.1 deg [env.py: 1082] +05/18 16:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/18 16:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:23:31 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:23:31 INFO: [Worker 0] Worker 0 house 2 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 16:23:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s [base_object_manipulation_planner_policy.py: 377] +05/18 16:23:31 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 16:23:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:23:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.121s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:23:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.299s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:23:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.593[m] 86.115[deg] [grasp_sample.py: 596] +05/18 16:23:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:23:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:23:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:23:35 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 16:24:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:24:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:24:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:26:21 INFO: [Worker 0] Worker 0 house 2 episode 19 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:26:47 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [pipeline.py: 1174] +05/18 16:26:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_052 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:26:47 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:27:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:27:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [save_utils.py: 785] +05/18 16:27:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_052 in 16.89s (batch: 3.46s, save: 13.42s) [pipeline.py: 300] +05/18 16:27:04 INFO: [Worker 0] [PROFILE] Episode 19 house 2 success=True episode_total=1.24s: + episode_total: mean=109.23s, total=218.45s, count=2, min=4275.2ms, max=214179.7ms + sensor_polling: mean=502.6ms, total=150.77s, count=300, min=464.3ms, max=601.6ms + save_trajectories: mean=13.42s, total=13.42s, count=1, min=13424.0ms, max=13424.0ms + physics_step: mean=41.2ms, total=12.37s, count=300, min=28.6ms, max=59.2ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3462.6ms, max=3462.6ms + task_sampling: mean=618.4ms, total=1.24s, count=2, min=560.8ms, max=676.1ms + task_specific_sample: mean=613.9ms, total=1.23s, count=2, min=557.0ms, max=670.8ms + scene_randomize: mean=2.7ms, total=5.3ms, count=2, min=1.6ms, max=3.7ms + mj_forward_sync: mean=706.6us, total=1.4ms, count=2, min=0.7ms, max=0.7ms + policy_setup: mean=16.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:27:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:06 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:06 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 16:27:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037926m [env.py: 870] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.07512006 -0.3598477 -0.03792567] yaw=-124.3deg [env.py: 1019] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.15658735 -0.60644937 -0.03792567] yaw=-163.3deg [env.py: 1019] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.1621907 -1.024176 -0.03792567] yaw=176.4deg [env.py: 1019] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=225.5ms, total=225.6ms [env.py: 1075] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.075, -0.360, -0.038) [env.py: 1079] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -124.3 deg [env.py: 1082] +05/18 16:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.144m [env.py: 1086] +05/18 16:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:06 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:06 INFO: [Worker 0] Worker 0 house 2 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:07 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 16:27:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.122s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.335s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:27:10 ERROR: [Worker 0] Worker 0 house 2 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:27:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:11 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:11 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 16:27:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004341m [env.py: 870] +05/18 16:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.53015466 -0.23990311 0.00434052] yaw=-119.0deg [env.py: 1019] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 130.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.20989835 -0.87139545 0.00434052] yaw=-176.8deg [env.py: 1019] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.0925111 -1.17379618 0.00434052] yaw=155.7deg [env.py: 1019] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=332.8ms, total=332.9ms [env.py: 1075] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.530, -0.240, 0.004) [env.py: 1079] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.0 deg [env.py: 1082] +05/18 16:27:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/18 16:27:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:12 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:12 INFO: [Worker 0] Worker 0 house 2 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:13 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 16:27:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.124s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 9.282s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:23 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.446[m] 105.045[deg] [grasp_sample.py: 596] +05/18 16:27:24 ERROR: [Worker 0] Worker 0 house 2 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:27:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:26 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:26 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 16:27:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072988m [env.py: 870] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.5° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 154.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.00715288 -0.24249637 0.07298766] yaw=-161.9deg [env.py: 1019] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=324.1ms, total=324.2ms [env.py: 1075] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.007, -0.242, 0.073) [env.py: 1079] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg [env.py: 1082] +05/18 16:27:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.262m [env.py: 1086] +05/18 16:27:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:27 INFO: [Worker 0] Worker 0 house 2 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:27 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 16:27:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.125s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.768s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:27:31 ERROR: [Worker 0] Worker 0 house 2 episode 22 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=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, 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: -0.045816m [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 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.36948017 -0.09361799 -0.04581603] yaw=-104.9deg [env.py: 1019] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.8° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03031495 -0.8081359 -0.04581603] yaw=-165.1deg [env.py: 1019] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.16781159 -0.33511387 -0.04581603] yaw=-156.9deg [env.py: 1019] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=251.4ms, total=251.4ms [env.py: 1075] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.369, -0.094, -0.046) [env.py: 1079] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.9 deg [env.py: 1082] +05/18 16:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +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 16:27:33 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 23/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [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 0.123s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.179s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:27:36 ERROR: [Worker 0] Worker 0 house 2 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:27:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:37 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:37 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 16:27:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026969m [env.py: 870] +05/18 16:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.7° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.13132956 -0.29196599 -0.02696893] yaw=-140.2deg [env.py: 1019] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.3° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 151.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.15179193 -0.39230403 -0.02696893] yaw=-141.3deg [env.py: 1019] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.12597508 -0.69507963 -0.02696893] yaw=-163.7deg [env.py: 1019] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=249.6ms, total=249.6ms [env.py: 1075] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.131, -0.292, -0.027) [env.py: 1079] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.2 deg [env.py: 1082] +05/18 16:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.131m [env.py: 1086] +05/18 16:27:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:38 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:38 INFO: [Worker 0] Worker 0 house 2 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:38 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 16:27:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.124s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.757s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:27:42 ERROR: [Worker 0] Worker 0 house 2 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:27:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:43 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:27:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.092m, effective arm-mount z=0.768m (base_body_z=-0.092m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.092051m [env.py: 870] +05/18 16:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:27:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.1° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 141.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-7.95784723e-05 -4.77802551e-01 -9.20509307e-02] yaw=-153.8deg [env.py: 1019] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.04801356 -0.18904569 -0.09205093] yaw=-122.8deg [env.py: 1019] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.02515259 -0.40714996 -0.09205093] yaw=-146.7deg [env.py: 1019] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=292.9ms, total=293.0ms [env.py: 1075] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.000, -0.478, -0.092) [env.py: 1079] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.8 deg [env.py: 1082] +05/18 16:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.160m [env.py: 1086] +05/18 16:27:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:44 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:44 INFO: [Worker 0] Worker 0 house 2 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.147s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.733s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:27:48 ERROR: [Worker 0] Worker 0 house 2 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:27:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:49 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:49 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 16:27:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:49 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 16:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.057498m [env.py: 870] +05/18 16:27:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12713247 -0.49334445 -0.05749772] yaw=-139.7deg [env.py: 1019] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 129.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 128.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18370189 -1.04270905 -0.05749772] yaw=160.8deg [env.py: 1019] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.19211508 -0.21510565 -0.05749772] yaw=-122.2deg [env.py: 1019] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=323.9ms, total=323.9ms [env.py: 1075] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.127, -0.493, -0.057) [env.py: 1079] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.7 deg [env.py: 1082] +05/18 16:27:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.274m [env.py: 1086] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:50 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:50 INFO: [Worker 0] Worker 0 house 2 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:27:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.118s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.345s, found feasible grasp: False [grasp_sample.py: 557] +05/18 16:27:54 ERROR: [Worker 0] Worker 0 house 2 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 16:27:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:27:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:27:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:27:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:55 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:27:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:27:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:27:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.060m, effective arm-mount z=0.800m (base_body_z=-0.060m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.059929m [env.py: 870] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:27:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.4° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.08892913 -0.85914928 -0.05992881] yaw=-196.1deg [env.py: 1019] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.9° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.3995959 -0.0502191 -0.05992881] yaw=-139.1deg [env.py: 1019] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.06505003 -0.98838026 -0.05992881] yaw=151.4deg [env.py: 1019] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:27:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=266.1ms, total=266.2ms [env.py: 1075] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.089, -0.859, -0.060) [env.py: 1079] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -196.1 deg [env.py: 1082] +05/18 16:27:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/18 16:27:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:27:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:27:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:27:56 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:27:56 INFO: [Worker 0] Worker 0 house 2 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 16:27:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s [base_object_manipulation_planner_policy.py: 377] +05/18 16:27:56 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 16:27:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:27:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:27:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.061s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:27:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.696[m] 77.835[deg] [grasp_sample.py: 596] +05/18 16:27:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:27:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:27:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:27:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 16:29:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:29:20 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:29:25 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 16:30:42 INFO: [Worker 0] Worker 0 house 2 episode 27 object Fridge_7_upside_down_root completed with success=True [pipeline.py: 1108] +05/18 16:31:08 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [pipeline.py: 1174] +05/18 16:31:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_052 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 16:31:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 16:31:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 16:31:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m_2house/sim_chunks/chunk_052 [save_utils.py: 785] +05/18 16:31:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_052 in 16.46s (batch: 3.33s, save: 13.13s) [pipeline.py: 300] +05/18 16:31:25 INFO: [Worker 0] [PROFILE] Episode 27 house 2 success=True episode_total=4.90s: + episode_total: mean=31.18s, total=249.47s, count=8, min=3984.2ms, max=210315.2ms + sensor_polling: mean=495.5ms, total=148.64s, count=300, min=455.5ms, max=589.7ms + save_trajectories: mean=13.13s, total=13.13s, count=1, min=13130.6ms, max=13130.6ms + physics_step: mean=42.7ms, total=12.82s, count=300, min=29.2ms, max=48.3ms + task_sampling: mean=612.0ms, total=4.90s, count=8, min=573.9ms, max=675.0ms + task_specific_sample: mean=608.1ms, total=4.87s, count=8, min=570.9ms, max=671.0ms + save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3328.6ms, max=3328.6ms + scene_randomize: mean=2.1ms, total=17.0ms, count=8, min=1.5ms, max=3.8ms + mj_forward_sync: mean=655.9us, total=5.2ms, count=8, min=0.6ms, max=0.7ms + policy_setup: mean=16.1us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 16:31:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:27 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:27 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 16:31:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.036m, effective arm-mount z=0.824m (base_body_z=-0.036m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.035702m [env.py: 870] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.30258986 -0.1770449 -0.03570178] yaw=-130.6deg [env.py: 1019] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.18013926 -1.21804473 -0.03570178] yaw=148.0deg [env.py: 1019] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18128086 -0.58890997 -0.03570178] yaw=-188.3deg [env.py: 1019] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=145.0ms, total=145.1ms [env.py: 1075] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.303, -0.177, -0.036) [env.py: 1079] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.6 deg [env.py: 1082] +05/18 16:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m [env.py: 1086] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:27 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:27 INFO: [Worker 0] Worker 0 house 2 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:27 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 16:31:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.123s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 15.411s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:43 INFO: [Worker 0] Feasible grasp found 162 (originally 47): w/ 0.795[m] 150.832[deg] [grasp_sample.py: 596] +05/18 16:31:45 ERROR: [Worker 0] Worker 0 house 2 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 16:31:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 2 [task_sampler.py: 1090] +05/18 16:31:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 16:31:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 16:31:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:46 WARNING: [Worker 0] No image features for Fridge_m_2, ignoring. [object_manager.py: 1078] +05/18 16:31:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1'] [opening_task_samplers.py: 195] +05/18 16:31:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1 [opening_task_samplers.py: 204] +05/18 16:31:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.027m, effective arm-mount z=0.833m (base_body_z=-0.027m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 16:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 16:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.074, -0.916, 1.306) [env.py: 845] +05/18 16:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.026657m [env.py: 870] +05/18 16:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.850m - 1.300m [env.py: 871] +05/18 16:31:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 16:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 23387 free points within sampling radius [env.py: 907] +05/18 16:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.2° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.6° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.0° outside wedge [-28.6°, 57.3°], rejecting... [env.py: 969] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.19249496 -0.87605206 -0.02665695] yaw=-152.6deg [env.py: 1019] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.00229302 -1.27695139 -0.02665695] yaw=168.1deg [env.py: 1019] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 16:31:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=335.3ms, total=335.4ms [env.py: 1075] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.192, -0.876, -0.027) [env.py: 1079] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.6 deg [env.py: 1082] +05/18 16:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 16:31:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 16:31:47 INFO: [Worker 0] Sampled task 'Open the fridge' [task_sampler.py: 1143] +05/18 16:31:47 INFO: [Worker 0] Worker 0 house 2 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 16:31:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 16:31:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_m/grasps/Fridge_m_2/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz [grasp_sample.py: 202] +05/18 16:31:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 16:31:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.123s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 16:31:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.097s, found feasible grasp: True [grasp_sample.py: 557] +05/18 16:31:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.613[m] 96.375[deg] [grasp_sample.py: 596] +05/18 16:31:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 16:31:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 16:31:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 16:31:49 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 16:33:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 16:33:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] diff --git a/fridge_m_2house/sim/house_2/chunk_052/trajectories_batch_1_of_1_cam_rand.h5 b/fridge_m_2house/sim/house_2/chunk_052/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d889470136f68f5ca357c01308e82496681e7be5 --- /dev/null +++ b/fridge_m_2house/sim/house_2/chunk_052/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae8768211019d83d4789961362a9883bb84f13783e396fd0270dea5643c358e6 +size 609135742